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— This paper describes an architecture for estimating environmental odor maps and presents experimental results obtained using that architecture with five mobile robots inside a large laboratory with two odor sources and forced ventilation. The mobile sensing agents employed in the experiments have self localization capabilities and carry an electronic nose(More)
This paper presents an analytical approach to the problem of odor plume finding by a network of swarm robotic gas sensors, and finds an optimal configuration for them, given a set of assumptions. Considering cross-wind movement for the swarm, we found that the best spatial formation of robots in finding odor plumes is diagonal line configuration with equal(More)
— The article describes a Player/Stage simulation framework for mobile robot olfactory experiments. The PlumeSim framework simulates odor transport in the environment , as well as olfactory detection systems. The odor transport can be based on analytical theoretical models, data generated by dedicated computational fluid dynamics (CFD) software packages, or(More)
—Exploration of an unknown environment is a fundamental concern in mobile robotics. This paper presents an approach for cooperative multi-robot exploration, fire searching and mapping in an unknown environment. The proposed approach aims to minimize the overall exploration time, making it possible to localize fire sources in an efficient way. In order to(More)
— This paper characterizes four commercial Laser Range Finders (LRF) while operating under adverse conditions, namely: low visibility, and multiple types of target surfaces, including different optical properties, angles and radiant surfaces. The study considered two scanning LRF commonly used in mobile robotics: the Sick LMS200 and the Hokuyo URG-04LX, and(More)
— 3DCLIMBER is a running project in the University of Coimbra for developing a climbing robot with the capability of manipulating over 3D human-made structures. This paper mainly discuss the conceptual and detailed design and development of a Pole Climbing robot with minimum degrees of freedom which can climb over 3D structures with bends and branches(More)