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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)
— 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)
— 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)
This paper proposes an olfaction based methodology to automatically cover an unknown area enabling the decoupled cooperation of a group of floor cleaning mobile robots. This method is based on the utilisation of low cost chemical sensors in cleaning mobile robots, in order to differentiate clean from dirty areas. The experimental results show that the use(More)
This paper presents a cooperative distributed approach for searching odor sources in unknown structured environments with multiple mobile robots. While searching and exploring the environment, the robots independently generate on-line local topological maps and by sharing them with each other they construct a global map. The proposed method is a(More)