Navigation strategies for a robot in a turbulent odor plume using bilateral comparison
Identifieur interne : 000B23 ( Crin/Checkpoint ); précédent : 000B22; suivant : 000B24Navigation strategies for a robot in a turbulent odor plume using bilateral comparison
Auteurs : Etienne Hugues ; Olivier Rochel ; Dominique MartinezSource :
English descriptors
- KwdEn :
Abstract
This paper concentrates on the use of bilateral comparison between two spatially separated gas sensors arrays for the navigation of a robot in a turbulent odor plume. We propose binary or analog navigation laws depending on the nature of the available sensory information : in the binary case, only the side of the highest concentration is known, while in the analog case the graded concentration levels at both sides are known. To insure their efficiency we impose a stability condition and a convergence condition. The proposed laws are then simulated and tested experimentally with a robot in the case of a turbulent odor plume.
Links toward previous steps (curation, corpus...)
Links to Exploration step
CRIN:hugues03aLe document en format XML
<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en" wicri:score="431">Navigation strategies for a robot in a turbulent odor plume using bilateral comparison</title></titleStmt><publicationStmt><idno type="RBID">CRIN:hugues03a</idno><date when="2003" year="2003">2003</date><idno type="wicri:Area/Crin/Corpus">003A62</idno><idno type="wicri:Area/Crin/Curation">003A62</idno><idno type="wicri:explorRef" wicri:stream="Crin" wicri:step="Curation">003A62</idno><idno type="wicri:Area/Crin/Checkpoint">000B23</idno><idno type="wicri:explorRef" wicri:stream="Crin" wicri:step="Checkpoint">000B23</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en">Navigation strategies for a robot in a turbulent odor plume using bilateral comparison</title><author><name sortKey="Hugues, Etienne" sort="Hugues, Etienne" uniqKey="Hugues E" first="Etienne" last="Hugues">Etienne Hugues</name></author><author><name sortKey="Rochel, Olivier" sort="Rochel, Olivier" uniqKey="Rochel O" first="Olivier" last="Rochel">Olivier Rochel</name></author><author><name sortKey="Martinez, Dominique" sort="Martinez, Dominique" uniqKey="Martinez D" first="Dominique" last="Martinez">Dominique Martinez</name></author></analytic></biblStruct></sourceDesc></fileDesc><profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>autonomous robot</term><term>olfactory perception</term></keywords></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en" wicri:score="2923">This paper concentrates on the use of bilateral comparison between two spatially separated gas sensors arrays for the navigation of a robot in a turbulent odor plume. We propose binary or analog navigation laws depending on the nature of the available sensory information : in the binary case, only the side of the highest concentration is known, while in the analog case the graded concentration levels at both sides are known. To insure their efficiency we impose a stability condition and a convergence condition. The proposed laws are then simulated and tested experimentally with a robot in the case of a turbulent odor plume.</div></front></TEI><BibTex type="inproceedings"><ref>hugues03a</ref><crinnumber>A03-R-330</crinnumber><category>3</category><equipe>CORTEX</equipe><author><e>Hugues, Etienne</e><e>Rochel, Olivier</e><e>Martinez, Dominique</e></author><title>Navigation strategies for a robot in a turbulent odor plume using bilateral comparison</title><booktitle>{International Conference on Advanced Robotics - ICAR'2003, Coimbra, Portugal}</booktitle><year>2003</year><month>Jun</month><keywords><e>autonomous robot</e><e>olfactory perception</e></keywords><abstract>This paper concentrates on the use of bilateral comparison between two spatially separated gas sensors arrays for the navigation of a robot in a turbulent odor plume. We propose binary or analog navigation laws depending on the nature of the available sensory information : in the binary case, only the side of the highest concentration is known, while in the analog case the graded concentration levels at both sides are known. To insure their efficiency we impose a stability condition and a convergence condition. The proposed laws are then simulated and tested experimentally with a robot in the case of a turbulent odor plume.</abstract></BibTex></record>Pour manipuler ce document sous Unix (Dilib)
EXPLOR_STEP=$WICRI_ROOT/Wicri/Lorraine/explor/InforLorV4/Data/Crin/Checkpoint
HfdSelect -h $EXPLOR_STEP/biblio.hfd -nk 000B23 | SxmlIndent | more
Ou
HfdSelect -h $EXPLOR_AREA/Data/Crin/Checkpoint/biblio.hfd -nk 000B23 | SxmlIndent | more
Pour mettre un lien sur cette page dans le réseau Wicri
{{Explor lien
|wiki= Wicri/Lorraine
|area= InforLorV4
|flux= Crin
|étape= Checkpoint
|type= RBID
|clé= CRIN:hugues03a
|texte= Navigation strategies for a robot in a turbulent odor plume using bilateral comparison
}}
| This area was generated with Dilib version V0.6.33. |  |