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Title: Cooperative Chemical Concentration Map Building Using Decentralized Asynchronous Particle Swarm Optimization Based Search by Mobile Robots
Authors: Turduev, Mirbek
Ataş, Yunus
Sousa, Pedro
Gazi, Veysel
Marques, Lino
Keywords: [No Keywords]
Issue Date: 2010
Publisher: IEEE
Source: IEEE/RSJ International Conference on Intelligent Robots and Systems -- OCT 18-22, 2010 -- Taipei, TAIWAN
Series/Report no.: IEEE International Conference on Intelligent Robots and Systems
Abstract: In this article the main objective is to perform a search in an unknown area with multiple robots in order to determine the region with highest chemical gas concentration as well as to build the chemical gas concentration map. The searching and map building tasks are accomplished by using mobile robots equipped with smart transducers for gas sensing. Robots perform the search autonomously by using their own data and the information (position information and sensor readings) obtained from the other robots. Moreover, simultaneously the robots send their sensor readings of the chemical concentration and their position data to a remote computer (a base station), where the data is combined, interpolated, and filtered to form an real-time map of the chemical gas concentration in the environment. To achieve this task as a high-level path planning algorithm we use a decentralized and asynchronous version of the Particle Swarm Optimization (PSO) algorithm which also allows for time-varying neighborhood.
ISBN: 978-1-4244-6675-7
ISSN: 2153-0858
Appears in Collections:Elektrik ve Elektronik Mühendisliği Bölümü / Department of Electrical & Electronics Engineering
Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection
WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collection

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