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dc.contributor.authorMonroy, Javier
dc.contributor.authorRuiz-Sarmiento, Jose-Raul
dc.contributor.authorGonzalez-Jimenez, Antonio Javier 
dc.date.accessioned2019-06-04T10:23:23Z
dc.date.available2019-06-04T10:23:23Z
dc.date.created2019
dc.date.issued2019-06-04
dc.identifier.urihttps://hdl.handle.net/10630/17764
dc.description.abstractGas source localization is likely the most direct application of a mobile robot endowed with gas sensing capabilities. Multiple algorithms have been proposed to locate the gas source within a known environment, ranging from bio-inspired to probabilistic ones. However, their application to real-world conditions still remains a major issue due to the great difficulties those scenarios bring, among others, the common presence of obstacles which hamper the movement of the robot and notably ncrease the complexity of the gas dispersion. In this work, we consider a plume tracking algorithm based on the well-known silkworm moth strategy and analyze its performance when facing different realistic environments characterized by the presence of obstacles and turbulent wind flows. We rely on computational fluid dynamics and the open source gas dispersion simulator GADEN to generate realistic gas distributions in scenarios where the presence of obstacles breaks down the ideal downwind plume. We first propose some modifications to the original silkworm moth algorithm in order to deal with the presence of obstacles in the environment (avoiding collisions) and then analyze its performance within four challenging environments.en_US
dc.description.sponsorshipUniversidad de Málaga. Campus de Excelencia Internacional Andalucía Tech. Proyecto de excelencia de la Junata de Andalucia TEP2012-530en_US
dc.language.isoengen_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/4.0/*
dc.subjectCongresos y conferenciasen_US
dc.subjectGasesen_US
dc.subjectSensores químicosen_US
dc.subjectRobóticaen_US
dc.subject.otherMobile roboten_US
dc.subject.otherRobotic olfactionen_US
dc.subject.otherChemical sensoren_US
dc.subject.otherGas source localizationen_US
dc.titleAn evaluation of plume tracking as a strategy for gas source localization in turbulent wind flowsen_US
dc.typeinfo:eu-repo/semantics/conferenceObjecten_US
dc.centroE.T.S.I. Informáticaen_US
dc.relation.eventtitle18th International Symposium on Olfaction and Electronic Nose (ISOEN)en_US
dc.relation.eventplaceFukuoka, Japanen_US
dc.relation.eventdateMay, 2019en_US
dc.rights.ccAttribution-NonCommercial-NoDerivatives 4.0 Internacional*


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Attribution-NonCommercial-NoDerivatives 4.0 Internacional
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