Publication

A Plume Tracking Algorithm Based on Crosswind Formations

Alcherio Martinoli, Inaki Navarro Oiza, Thomas Lochmatter
2013
Conference Papers

Résumé

We introduce a plume tracking algorithm based on robot formations. The algorithm is inherently designed for multi-robot systems, and requires at least two robots to collaborate. The robots try to keep themselves centered around the plume while moving upwind towards the source, and share their odor concentration and wind direction measurements with each other. In addition, robots know the relative poses of other team members. Systematic experiments with up to 5 real robots in a wind tunnel show that the robots achieve close-to-optimal performance in our scenario, and by far outperform previous approaches. The performance gain is attributed to the fact that robots continuously share information about the plume (odor concentration, wind direction) without spatially competing for acquiring it.

Source officielle

https://infoscience.epfl.ch/entities/publication/809bb8ef-f1a4-404e-8728-5afd658fe9ee

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Alcherio Martinoli, Inaki Navarro Oiza, Thomas Lochmatter
2013
Conference Papers

Résumé

Source officielle

https://infoscience.epfl.ch/entities/publication/809bb8ef-f1a4-404e-8728-5afd658fe9ee

À propos de ce résultat

Concepts associés (23)

Robotique

thumb|upright=1.5|Nao, un robot humanoïde. thumb|upright=1.5|Des robots industriels au travail dans une usine. La robotique est l'ensemble des techniques permettant la conception et la réalisation de machines automatiques ou de robots. L'ATILF donne la définition suivante du robot : « il effectue, grâce à un système de commande automatique à base de microprocesseur, une tâche précise pour laquelle il a été conçu dans le domaine industriel, scientifique, militaire ou domestique ».

Wind direction

Wind direction is generally reported by the direction from which the wind originates. For example, a north or northerly wind blows from the north to the south; the exceptions are onshore winds (blowing onto the shore from the water) and offshore winds (blowing off the shore to the water). Wind direction is usually reported in cardinal (or compass) direction, or in degrees. Consequently, a wind blowing from the north has a wind direction referred to as 0° (360°); a wind blowing from the east has a wind direction referred to as 90°, etc.

Wind gradient

In common usage, wind gradient, more specifically wind speed gradient or wind velocity gradient, or alternatively shear wind, is the vertical component of the gradient of the mean horizontal wind speed in the lower atmosphere. It is the rate of increase of wind strength with unit increase in height above ground level. In metric units, it is often measured in units of meters per second of speed, per kilometer of height (m/s/km), which reduces to the standard unit of shear rate, inverse seconds (s−1).

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