A Graph-Based Formation Algorithm for Odor Plume Tracing

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.


Published in:
Distributed Autonomous Robotic Systems, The 12th International Symposium, 255-269
Presented at:
12th International Symposium on Distributed Autonomous Robotic Systems (DARS), Daejeon, South Korea, November 2-5, 2014
Year:
2014
Publisher:
Springer Japan
ISBN:
978-4-431-55877-4
Keywords:
Laboratories:




 Record created 2014-11-18, last modified 2018-09-13

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