Indoor odour source localisation using robot: are there advantageous initial locations?

Abstract

Learning from insects but using autonomous robot to detect chemical emissions caused by such as fire, toxic gas leakage and explosive at their early stages, and localise their sources swiftly can avoid risking human health and even saving lives. This paper presents the investigations aimed to find answers for an important question, “Are there advantageous locations when releasing robot for speedier chemical source localisation with no prior knowledge about the environment as well as the plume propagation and distribution?” To find the answers, a simulated autonomous robot and an indoor office-like environment which contains an odour/gas source emitting varying chemical concentration levels as well as constantly varied wind speeds and directions, were adopted.