A Plume Tracking Algorithm Based on Crosswind Formations

We introduce a plume tracking algorithm based on robot formations. The algorithm is inherently designed for multi-robot systems, and requires at least two robots to collaborate. The robots try to keep themselves centered around the plume while moving upwind towards the source, and share their odor concentration and wind direction measurements with each other. In addition, robots know the relative poses of other team members. Systematic experiments with up to 5 real robots in a wind tunnel show that the robots achieve close-to-optimal performance in our scenario, and by far outperform previous approaches. The performance gain is attributed to the fact that robots continuously share information about the plume (odor concentration, wind direction) without spatially competing for acquiring it.


Editor(s):
Martinoli, A.
Mondada, F.
Correll, N.
Mermoud, G.
Egerstedt, M.
Hsieh, Ma
Parker, Le
Stoy, K.
Published in:
Proc. of the Tenth Int. Symp. on Distributed Autonomous Robotic Systems, 83, 91-102
Presented at:
Distributed Autonomous Robotic Systems, Lausanne, Switzerland, November 2010
Year:
2013
Publisher:
Berlin, Springer-Verlag Berlin
ISBN:
978-3-642-32722-3
Laboratories:




 Record created 2013-03-28, last modified 2018-03-17


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