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  4. A Distributed Source Term Estimation Algorithm for Multi-Robot Systems
 
conference paper

A Distributed Source Term Estimation Algorithm for Multi-Robot Systems

Rahbar, Faezeh  
•
Martinoli, Alcherio  
2020
[Proceedings of] 2020 International Conference on Robotics and Automation (ICRA)
IEEE International Conference on Robotics and Automation (ICRA)

Finding sources of airborne chemicals with mobile sensing systems finds applications in safety, security, and emergency situations related to medical, domestic, and environmental domains. Given the often critical nature of all the applications, it is important to reduce the amount of time necessary to accomplish this task through intelligent systems and algorithms. In this paper, we extend a previously presented algorithm based on source term estimation for odor source localization for homogeneous multi-robot systems. By gradually increasing the level of coordination among multiple mobile robots, we study the benefits of a distributed system on reducing the amount of time and resources necessary to achieve the task at hand. The method has been evaluated systematically through high-fidelity simulations and in a wind tunnel emulating realistic and repeatable conditions in different coordination scenarios and with different number of robots.

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Type
conference paper
DOI
10.1109/ICRA40945.2020.9196959
Web of Science ID

WOS:000712319503127

Author(s)
Rahbar, Faezeh  
Martinoli, Alcherio  
Date Issued

2020

Publisher

IEEE

Publisher place

New York

Published in
[Proceedings of] 2020 International Conference on Robotics and Automation (ICRA)
ISBN of the book

978-1-7281-7395-5

Total of pages

7

Series title/Series vol.

IEEE International Conference on Robotics and Automation ICRA

Start page

5604

End page

5610

Subjects

Automation and Control Systems

•

Engineering, Electrical and Electronic

•

Robotics

Editorial or Peer reviewed

REVIEWED

Written at

EPFL

EPFL units
DISAL  
Event nameEvent placeEvent date
IEEE International Conference on Robotics and Automation (ICRA)

[Virtual conference]

31 May - 31 August, 2020

Available on Infoscience
September 9, 2020
Use this identifier to reference this record
https://infoscience.epfl.ch/handle/20.500.14299/171518
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