{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,10]],"date-time":"2026-04-10T06:07:14Z","timestamp":1775801234228,"version":"3.50.1"},"reference-count":35,"publisher":"MDPI AG","issue":"4","license":[{"start":{"date-parts":[[2017,4,21]],"date-time":"2017-04-21T00:00:00Z","timestamp":1492732800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100008812","name":"DST Group","doi-asserted-by":"publisher","award":["Autonomous Systems for Applications in Complex, Urban Environments  A Schedule Agreement under the"],"award-info":[{"award-number":["Autonomous Systems for Applications in Complex, Urban Environments  A Schedule Agreement under the"]}],"id":[{"id":"10.13039\/501100008812","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Finding the source of an accidental or deliberate release of a toxic substance into the atmosphere is of great importance for national security. The paper presents a search algorithm for turbulent environments which falls into the class of cognitive (infotaxi) algorithms. Bayesian estimation of the source parameter vector is carried out using the Rao\u2013Blackwell dimension-reduction method, while the robots are controlled autonomously to move in a scalable formation. Estimation and control are carried out in a centralised replicated fusion architecture assuming all-to-all communication. The paper presents a comprehensive numerical analysis of the proposed algorithm, including the search-time and displacement statistics.<\/jats:p>","DOI":"10.3390\/s17040918","type":"journal-article","created":{"date-parts":[[2017,4,21]],"date-time":"2017-04-21T10:59:30Z","timestamp":1492772370000},"page":"918","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":39,"title":["Autonomous Multi-Robot Search for a Hazardous Source in a Turbulent Environment"],"prefix":"10.3390","volume":"17","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-8561-4412","authenticated-orcid":false,"given":"Branko","family":"Ristic","sequence":"first","affiliation":[{"name":"School of Engineering, RMIT University, Melbourne, VIC 3000, Australia"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0023-8989","authenticated-orcid":false,"given":"Daniel","family":"Angley","sequence":"additional","affiliation":[{"name":"School of Engineering, RMIT University, Melbourne, VIC 3000, Australia"}]},{"given":"Bill","family":"Moran","sequence":"additional","affiliation":[{"name":"School of Engineering, RMIT University, Melbourne, VIC 3000, Australia"}]},{"given":"Jennifer","family":"Palmer","sequence":"additional","affiliation":[{"name":"Aerospace Division, Defence Science and Technology, Fishermans Bend, VIC 3207, Australia"}]}],"member":"1968","published-online":{"date-parts":[[2017,4,21]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Kendall, R.J., Presley, S.M., Austin, G.P., and Smith, P.N. 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