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Sensors 2017, 17(4), 918; doi:10.3390/s17040918

Autonomous Multi-Robot Search for a Hazardous Source in a Turbulent Environment

1
School of Engineering, RMIT University, Melbourne, VIC 3000, Australia
2
Aerospace Division, Defence Science and Technology, Fishermans Bend, VIC 3207, Australia
*
Author to whom correspondence should be addressed.
Academic Editors: Min Chen, Kai Hwang and Yin Zhang
Received: 12 March 2017 / Revised: 11 April 2017 / Accepted: 18 April 2017 / Published: 21 April 2017
View Full-Text   |   Download PDF [1598 KB, uploaded 21 April 2017]   |  

Abstract

Finding the source of an accidental or deliberate release of a toxic substance into the atmosphere is of great importance for national security. The paper presents a search algorithm for turbulent environments which falls into the class of cognitive (infotaxi) algorithms. Bayesian estimation of the source parameter vector is carried out using the Rao–Blackwell dimension-reduction method, while the robots are controlled autonomously to move in a scalable formation. Estimation and control are carried out in a centralised replicated fusion architecture assuming all-to-all communication. The paper presents a comprehensive numerical analysis of the proposed algorithm, including the search-time and displacement statistics. View Full-Text
Keywords: cognitive search; biochemical source localisation; mobile robots cognitive search; biochemical source localisation; mobile robots
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Ristic, B.; Angley, D.; Moran, B.; Palmer, J.L. Autonomous Multi-Robot Search for a Hazardous Source in a Turbulent Environment. Sensors 2017, 17, 918.

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