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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 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 work presents a methodology and practical implementation of sensor fusion for land-mine detection using a novel multi-sensor hand-held device composed by a triple coil metal detector and a gas sensor. The proposed approach consists on merging data from both sensors in order to reduce the false alarm rate, particularly by using odor information. A(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)
This paper 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)
Aiming at increasing team efficiency, mobile robots may act as a node of a Robotic Cluster to assist their teammates in computationally demanding tasks. Having this in mind, we propose two distributed architectures for the Simultaneous Localization And Mapping (SLAM) problem, our main case study. The analysis focuses especially on the efficiency gain that(More)
Robotic systems are increasingly being utilized as fundamental data-gathering tools by scientists, allowing new perspectives and a greater understanding of the planet and its environmental processes. Today's robots are already exploring our deep oceans, tracking harmful algal blooms and pollution spread, monitoring climate variables, and even studying(More)
In this article the main objective is to perform a search in an unknown area with multiple robots in order to determine the region with highest chemical gas concentration as well as to build the chemical gas concentration map. The searching and map building tasks are accomplished by using mobile robots equipped with smart transducers for gas sensing. Robots(More)