Understanding the Potential Impact of Multiple Robots in Odor Source Localization

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.


Published in:
Distributed Autonomous Robotic Systems 8, 239-250
Presented at:
9th Symposium on Distributed Autonomous Robotic Systems (DARS 2008), Tsukuba, Japan, November 17-19, 2008
Year:
2008
Publisher:
Springer-Verlag New York, Ms Ingrid Cunningham, 175 Fifth Ave, New York, Ny 10010 Usa
ISBN:
978-3-642-00643-2
Keywords:
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 Record created 2008-10-01, last modified 2018-03-17

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