Experimental studies on chemical concentration map building by a multi-robot system using bio-inspired algorithms

Name: Experimental studies on chemical concentration map building by a multi-robot system using bio-inspired algorithms
Author: Turduev, M., Cabrita, G., Kırtay, Murat, Gazi, V., Marques, L.

İsim	Experimental studies on chemical concentration map building by a multi-robot system using bio-inspired algorithms
Yazar	Turduev, M., Cabrita, G., Kırtay, Murat, Gazi, V., Marques, L.
Basım Tarihi:	2014-01
Basım Yeri	- Springer Science+Business Media
Konu	Decentralized and asynchronous particle swarm optimization, Bacterial foraging optimization, Ant colony optimization
Tür	Süreli Yayın
Dil	İngilizce
Dijital	Evet
Yazma	Hayır
Kütüphane:	Özyeğin Üniversitesi
Demirbaş Numarası	1573-7454
Kayıt Numarası	b007c8aa-7d80-4eb3-8f77-d16a04331c33
Tarih	2014-01
Notlar	TÜBİTAK ; European Commission
Örnek Metin	In this article we describe implementations of various bio-inspired algorithms for obtaining the chemical gas concentration map of an environment filled with a contaminant. The experiments are performed using Khepera III and miniQ miniature mobile robots equipped with chemical gas sensors in an environment with ethanol gas. We implement and investigate the performance of decentralized and asynchronous particle swarm optimization (DAPSO), bacterial foraging optimization (BFO), and ant colony optimization (ACO) algorithms. Moreover, we implement sweeping (sequential search algorithm) as a base case for comparison with the implemented algorithms. During the experiments at each step the robots send their sensor readings and position data to a remote computer where the data is combined, filtered, and interpolated to form the chemical concentration map of the environment. The robots also exchange this information among each other and cooperate in the DAPSO and ACO algorithms. The performance of the implemented algorithms is compared in terms of the quality of the maps obtained and success of locating the target gas sources.
DOI	10.1007/s10458-012-9213-x
Cilt	28

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Experimental studies on chemical concentration map building by a multi-robot system using bio-inspired algorithms

Yazar Turduev, M., Cabrita, G., Kırtay, Murat, Gazi, V., Marques, L.

Basım Tarihi 2014-01

Basım Yeri - Springer Science+Business Media

Konu Decentralized and asynchronous particle swarm optimization, Bacterial foraging optimization, Ant colony optimization

Tür Süreli Yayın

Dil İngilizce

Dijital Evet

Yazma Hayır

Kütüphane Özyeğin Üniversitesi

Demirbaş Numarası 1573-7454

Kayıt Numarası b007c8aa-7d80-4eb3-8f77-d16a04331c33

Tarih 2014-01

Notlar TÜBİTAK ; European Commission

Örnek Metin In this article we describe implementations of various bio-inspired algorithms for obtaining the chemical gas concentration map of an environment filled with a contaminant. The experiments are performed using Khepera III and miniQ miniature mobile robots equipped with chemical gas sensors in an environment with ethanol gas. We implement and investigate the performance of decentralized and asynchronous particle swarm optimization (DAPSO), bacterial foraging optimization (BFO), and ant colony optimization (ACO) algorithms. Moreover, we implement sweeping (sequential search algorithm) as a base case for comparison with the implemented algorithms. During the experiments at each step the robots send their sensor readings and position data to a remote computer where the data is combined, filtered, and interpolated to form the chemical concentration map of the environment. The robots also exchange this information among each other and cooperate in the DAPSO and ACO algorithms. The performance of the implemented algorithms is compared in terms of the quality of the maps obtained and success of locating the target gas sources.

DOI 10.1007/s10458-012-9213-x

Cilt 28