Mobile robots with active IR-optical sensing for remote gas detection and source localization
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Multiple robots plume-tracing in open space obstructed environments
ROBIO'09 Proceedings of the 2009 international conference on Robotics and biomimetics
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Two basic tasks must be performed by an olfactory robot tracking a specific odor source: navigate in a turbulent odor plume and recognize an odor regardless of its concentration. For these two tasks, we propose simple biologically inspired strategies, well suited for building dedicated circuits and for on-board implementation on real robots. The odor recognition system is based on a spiking neural network using a synchronization coding scheme. The robot navigation system is based on the use of bilateral comparison between two spatially separated gas sensors arrays at either side of the robot. We propose binary or analog navigation laws depending on the nature of the available sensory information extracted from the plume structure (isolated odor patches or smoother concentration field).