Section: New Software and Platforms

Source-seeking robot

Participants : R. Fabbiano [contact person] , J. Dumon, Y. Gaudfrin.

The source-seeking algorithms developed in the thesis of Ruggero Fabbiano have been implemented in hardware, with a wheeled robot performing 2-dimensional search. The considered scenario is a source of pollutant in the ocean, where the pollutant can be detected thanks to the fact that it is warmer than water, so that data from an infra-red camera can be used by one or multiple helicopters to move along the ocean surface towards the source. In our experimental equipment, the 2-dimensional movement has been performed with a wheeled vehicle, and the camera was a regular camera, taking pictures of a color-coded image from an actual infra-red image of a pollutant leak. Videos of the experiments are available online: http://necs.inrialpes.fr/pages/platforms.php