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  4. Understanding the Potential Impact of Multiple Robots in Odor Source Localization
 
conference paper

Understanding the Potential Impact of Multiple Robots in Odor Source Localization

Lochmatter, Thomas  
•
Martinoli, Alcherio  
2008
Distributed Autonomous Robotic Systems 8
9th Symposium on Distributed Autonomous Robotic Systems (DARS 2008)

We investigate the performance of three bio-inspired odor source localization algorithms used in non-cooperating multi-robot systems. Our performance metric is the distance overhead of the first robot to reach the source, which is a good measure for the speed of an odor source localization algorithm. Using the performance distribution of single-robot experiments, we calculate an ideal performance for multi-robot teams. We carry out simulations in a realistic robotic simulator and provide quantitative evidence of the differences between ideal and realistic performances of a given algorithm. A closer analysis of the results show that these differences are mainly due to physical interference among robots.

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