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2016.10.9 / Publications

Towards 3-D distributed odor source localization: An extended graph-based formation control algorithm for plume tracking

The large number of potential applications for robotic odor source localization has motivated the development of a variety of plume tracking algorithms, the majority of which work in restricted two-dimensional scenarios.

2016.9.19 / Publications

An algorithm for formation-based chemical plume tracing using robotic marine vehicles

Robotic chemical plume tracing is a growing area of research, with envisioned real-world applications including pollution tracking, search and rescue, and ecosystem identification. However, following a chemical signal in the water is not an easy task due to the nature of chemical transport and to limitations in sensing and communication.

2015.5.26 / Publications

A distributed formation-based odor source localization algorithm – design, implementation, and wind tunnel evaluation

Robotic odor source localization is a promising tool with numerous applications in safety, search and rescue, and environmental science. In this paper, we present an algorithm for odor source localization using multiple cooperating robots equipped with chemical sensors.

2014.11.2 / Publications

A graph-based formation algorithm for odor plume tracing

Odor plume tracing is a challenging robotics application, made difficult by the combination of the patchy characteristics of odor distribution and the slow response of the available sensors. This work proposes a graph-based formation control algorithm to coordinate a group of small robots equipped with odor sensors, with the goal of tracing an odor plume to its source.

2014.8.24 / Publications

Flexible triangular formation keeping of marine robotic vehicles using range measurements

This paper addresses the problem of keeping an autonomous marine vehicle in a moving triangular formation by regulating its position with respect to two leader vehicles. The follower vehicle has no prior knowledge of the path described by the leaders but has access to their heading angle and is able to measure inter-vehicle ranges.

2013.11.28 / Publications

Design and implementation of a range-based formation controller for marine robots

There is considerable worldwide interest in the use of groups of autonomous marine vehicles to carry our challenging mission scenarios, of which marine habitat mapping of complex, non-structured environments is a representative example.

2013.5.6 / Publications

Joint ASV/AUV range-based formation control: Theory and experimental results

The use of groups of autonomous marine vehicles has enormous potential in numerous marine applications, perhaps the most relevant of which is the surveying and exploration of the oceans, still widely unknown and misunderstood.

2012.4.10 / Publications

Triangular formation control using range measurements: An application to marine robotic vehicles

This paper addresses the problem of maintaining an autonomous robotic vehicle in a moving triangular formation by regulating its position with respect to two leader vehicles. The robotic vehicle has no a priori knowledge of the path described by the leaders and its goal is to follow them by constantly regulating the inter-vehicle distances to a desired fixed value, using range-only measurements.