000134823 001__ 134823
000134823 005__ 20190812205259.0
000134823 02470 $$2ISI$$a000268929400015
000134823 037__ $$aCONF
000134823 245__ $$aLocalizing an Odor Source and Avoiding Obstacles: Experiments in a Wind Tunnel using Real Robots
000134823 260__ $$c2009
000134823 269__ $$a2009
000134823 336__ $$aConference Papers
000134823 490__ $$aAIP Conference Proceedings$$v1137
000134823 500__ $$aInvited paper for the special session "Gas Sensors in Robotics".
000134823 520__ $$aWe report on real-robot odor source localization experiments carried out in an environment with obstacles in the odor plume. The robot was equipped with an ethanol sensor and a wind direction sensor, and the experiments were carried out in a wind tunnel, i.e. in a controlled environment. An enhanced version of the surge-spiral algorithm was used, which was augmented with a dedicate behavior to manage obstacles (avoid them, or follow their contour). We compare the results in terms of distance overhead and success rate, and discuss the impact of obstacles on plume traversal.
000134823 6531_ $$aodor source localization
000134823 6531_ $$amobile robot
000134823 6531_ $$achemical sensor
000134823 6531_ $$abio-inspired
000134823 6531_ $$aobstacle
000134823 6531_ $$awind tunnel
000134823 6531_ $$aNCCR-MICS
000134823 6531_ $$aNCCR-MICS/CL2
000134823 700__ $$0247036$$g138121$$aLochmatter, Thomas
000134823 700__ $$aHeiniger, Nicolas
000134823 700__ $$0241071$$g105782$$aMartinoli, Alcherio
000134823 7112_ $$dApril 15-17, 2009$$cBrescia, Italy$$a13th International Symposium on Olfaction and Electronic Nose
000134823 773__ $$tProceedings of the 13th International Symposium on Olfaction and Electronic Nose$$q69-72
000134823 8564_ $$zURL$$uhttp://www.isoen.org/
000134823 8564_ $$zn/a$$uhttps://infoscience.epfl.ch/record/134823/files/ISOEN2009_cameraready.pdf$$s3525399
000134823 909C0 $$xU11904$$pDISAL$$0252151
000134823 909CO $$ooai:infoscience.tind.io:134823$$qGLOBAL_SET$$pconf$$pENAC
000134823 937__ $$aDISAL-CONF-2009-008
000134823 973__ $$rNON-REVIEWED$$sPUBLISHED$$aEPFL
000134823 980__ $$aCONF