Experimental analysis of gas-sensitive Braitenberg vehicles

  title={Experimental analysis of gas-sensitive Braitenberg vehicles},
  author={Achim J. Lilienthal and Tom Duckett},
  journal={Advanced Robotics},
This article addresses the problem of localising a static gas source in an indoor environment by a mobile robot. In contrast to previous works, the environment is not artificially ventilated to produce a strong unidirectional airflow. Here, the dominant transport mechanisms of gas molecules are turbulence and convection flow rather than diffusion, which results in a patchy, chaotically fluctuating gas distribution. Two Braitenberg-type strategies (positive and negative tropotaxis) based on the… CONTINUE READING
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