Multi-Robot Topological Exploration Using Olfactory Cues

This paper presents a distributed multi-robot system to search for odor sources inside unknown environments. The robots cooperatively explore the whole environment and generate its topological map. The exploration method is a decentralized frontier based algorithm that is enhanced by considering odor concentration at each frontier inside its cost/gain function. The robots independently generate local topological maps and by transferring them to each other, they are able to integrate these maps and generate a whole global map. The proposed method was tested and validated in real reduced scale scenarios.


Published in:
Distributed Autonomous Robotic Systems, 47-60
Year:
2013
Publisher:
Springer Berlin Heidelberg
ISBN:
978-3-642-32723-0
Laboratories:




 Record created 2014-03-10, last modified 2018-03-17

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