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  4. A Graph-Based Formation Algorithm for Odor Plume Tracing
 
conference paper

A Graph-Based Formation Algorithm for Odor Plume Tracing

Soares, Jorge Miguel  
•
Aguiar, A. Pedro
•
Pascoal, António M.
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2016
Distributed Autonomous Robotic Systems, The 12th International Symposium
12th International Symposium on Distributed Autonomous Robotic Systems (DARS)

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. This approach makes it possible to organize the robots in arbitrary and evolving formation shapes, with the aim of improving tracking performance. The algorithm was evaluated in a high-fidelity submicroscopic simulator, using different formations and achieving quick convergence and negligible distance overhead in laminar wind flows.

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Type
conference paper
DOI
10.1007/978-4-431-55879-8_18
Web of Science ID

WOS:000375913700018

Author(s)
Soares, Jorge Miguel  
Aguiar, A. Pedro
Pascoal, António M.
Martinoli, Alcherio  
Date Issued

2016

Publisher

Springer Japan

Published in
Distributed Autonomous Robotic Systems, The 12th International Symposium
ISBN of the book

978-4-431-55877-4

Series title/Series vol.

Springer Tracts in Advanced Robotics; 112

Start page

255

End page

269

Subjects

Odor source localization

•

Plume tracing

•

Formation control

•

Robotic olfaction

Editorial or Peer reviewed

REVIEWED

Written at

EPFL

EPFL units
DISAL  
Event nameEvent placeEvent date
12th International Symposium on Distributed Autonomous Robotic Systems (DARS)

Daejeon, South Korea

November 2-5, 2014

Available on Infoscience
November 18, 2014
Use this identifier to reference this record
https://infoscience.epfl.ch/handle/20.500.14299/108942
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