Robots, crickets and ants: models of neural control of chemotaxis and phonotaxis
Neural Networks - Special issue on neural control and robotics: biology and technology
Steering control of a mobile robot using insect antennae
IROS '95 Proceedings of the International Conference on Intelligent Robots and Systems-Volume 2 - Volume 2
Guiding robots' behaviors using pheromone communication
Autonomous Robots
Localization of CO2 source by a hexapod robot equipped with an anemoscope and a gas sensor
Computers and Electronics in Agriculture
Robot Odor Localization: A Taxonomy and Survey
International Journal of Robotics Research
Robotics and Autonomous Systems
Two-robot source seeking with point measurements
Theoretical Computer Science
Intensity-based navigation with global guarantees
Autonomous Robots
Hi-index | 0.00 |
This paper describes current progress in a project to develop robotic systems for locating underground chemical sources. There are a number of economic and humanitarian applications for this technology. Finding unexploded ordinance, land mines, and sources of leaks from pipes and tanks are some examples. Initial experiments were conducted using an ethanol chemical source buried in coarse sand. To gain an understanding of the sensory environment that would be experienced by a robot burrowing through the ground, the factors affecting transport of chemical vapour through soil were investigated. A robot search algorithrn was then developed for gathering chemical gradient inforrnation and using this to guide a robot towards the source. Experiments were performed using a chemical sensing probe positioned by a UMI RTX robot manipulator arm. The resulting system was successful in locating a source of ethanol vapour buried in sand. This paper includes details of experiments to characterise the sand used in this project, the robot search algorithm, sensor probe and results of source location trials.