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This paper addresses the collective odor source localization (OSL) problem in a time-varying airflow environment using mobile robots. A novel OSL methodology which combines odor-source probability estimation and multiple robots' search is proposed. The estimation phase consists of two steps: firstly, the separate probability-distribution map of odor source(More)
We consider chemical plume tracing (CPT) in time-varying airflow environments using multiple mobile robots. The purpose of CPT is to approach a gas source with a previously unknown location in a given area. Therefore, the CPT could be considered as a dynamic optimization problem in continuous domains. The traditional ant colony optimization (ACO) algorithm(More)
We consider odor-plume tracing using a multi-robot system in indoor natural airflow environments. The purpose of odor-plume tracing is to approach the odor source via following the found plume with mobile robot(s). Owing to the chaotic nature of the odor transport in the atmosphere, tracing the resultant patchy meandering plume down to its source is thus(More)
Phosphodiesterase 4 (PDE4) has four isoforms (PDE4A-D) with at least 25 splice variants. PDE4 subtype nonselective inhibitors produce potent antidepressant-like and cognition-enhancing effects via increased intracellular cyclic AMP (cAMP) signaling in the brain. Our previous data have demonstrated that long-form PDE4Ds appear to be involved in these(More)
We present a relative localization method based on sound source localization for mobile robots in outdoor environments. One robot estimates the relative position of nearby robots by receiving the sound signals they generate. In our work, a device including a buzzer and an array of four microphones is designed and installed on each mobile robot. We describe(More)
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