A Biologically-Inspired Algorithm Implemented on a new Highly Flexible Multi-Agent Platform for Gas Source Localization

Author

Ferri, Gabriele ; Caselli, Emanuele ; Mattoli, Virgilio ; Mondini, Alessio ; Mazzolai, Barbara ; Dario, Paolo

Author_Institution

BioRobotics Eng. Sch., IMT Lucca Inst. for Adv. Studies

fYear

2006

fDate

20-22 Feb. 2006

Firstpage

573

Lastpage

578

Abstract

This paper presents the design of a biologically-inspired algorithm, as well as the design and development of a new highly flexible multi-agent platform for a cooperative robotic system, to be applied to the localization of a gas source in an indoor environment with no strong airflow. The platform consists of a central PC and a variable number of robots. The robots cooperate, can communicate with each other, even when exchanging complex messages, and present a swarm-like behavior, which optimizes the gas localization task. The inexpensive, multipurpose, scalable, highly flexible platform whose use is discussed in this paper investigates the efficiency of bio-inspired cooperative algorithms, to detect the odor source location

Keywords

air pollution measurement; calibration; gas sensors; health hazards; multi-agent systems; multi-robot systems; biologically-inspired cooperative algorithm; cooperative robotic system; flexible multi-agent platform; gas sensor calibration; gas source localization; odor source localization; pollutant mapping task; robotic platform; Algorithm design and analysis; Carbon dioxide; Chemical industry; Design engineering; Humans; Indoor environments; Monitoring; Pollution; Position measurement; Robots;

fLanguage

English

Publisher

ieee

Conference_Titel

Biomedical Robotics and Biomechatronics, 2006. BioRob 2006. The First IEEE/RAS-EMBS International Conference on

Conference_Location

Pisa

Print_ISBN

1-4244-0040-6

Type

conf

DOI

10.1109/BIOROB.2006.1639150

Filename

1639150