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Sensors 2017, 17(4), 918;

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

School of Engineering, RMIT University, Melbourne, VIC 3000, Australia
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
Full-Text   |   PDF [1598 KB, uploaded 21 April 2017]   |  


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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