Simultaneous source localization and boundary mapping for contaminants

Menon, Prathyush P and Ghose, Debasish (2012) Simultaneous source localization and boundary mapping for contaminants. In: 2012 American Control Conference, 27-29 June 2012, Montreal, QC.

PDF Ame_Contr_Con_4174_2012.pdf - Published Version Restricted to Registered users only Download (1MB) | Request a copy

Abstract

This paper addresses the problem of localizing the sources of contaminants spread in the environment, and mapping the boundary of the affected region using an innovative swarm intelligence based technique. Unlike most work in this area the algorithm is capable of localizing multiple sources simultaneously while also mapping the boundary of the contaminant spread. At the same time the algorithm is suitable for implementation using a mobile robotic sensor network. Two types of agents, called the source localization agents (or S-agents) and boundary mapping agents (or B-agents) are used for this purpose. The paper uses the basic glowworm swarm optimization (GSO) algorithm, which has been used only for multiple signal source localization, and modifies it considerably to make it suitable for both these tasks. This requires the definition of new behaviour patterns for the agents based on their terminal performance as well as interactions between them that helps the swarm to split into subgroups easily and identify contaminant sources as well as spread along the boundary to map its full length. Simulations results are given to demonstrate the efficacy of the algorithm.

Item Type:	Conference Paper
Publisher:	IEEE
Additional Information:	Copyright of this article belongs to IEEE.
Department/Centre:	Division of Mechanical Sciences > Aerospace Engineering(Formerly Aeronautical Engineering)
Date Deposited:	24 Feb 2014 07:58
Last Modified:	24 Feb 2014 07:58
URI:	http://eprints.iisc.ac.in/id/eprint/48455

Actions (login required)

View Item