A Distributed Formation-based Odor Source Localization Algorithm – Design, Implementation, and Wind Tunnel Evaluation

Robotic odor source localization is a promising tool with numerous applications in safety, search and rescue, and environmental science. In this paper, we present an algorithm for odor source localization using multiple cooperating robots equipped with chemical sensors. Laplacian feedback is employed to maintain the robots in a formation, introducing spatial diversity that is used to better establish the position of the flock relative to the plume and its source. Robots primarily move upwind but use odor information to adjust their position and spacing so that they are centered on the plume and trace its structure. Real-world experiments were performed with an ethanol plume inside a wind tunnel, and used to both validate the algorithm and assess the impact of different formation shapes.

Published in:
Proceedings of the 2015 IEEE-RAS International Conference on Robotics and Automation
Presented at:
2015 IEEE International Conference on Robotics and Automation, Seattle, WA, USA, May 26-30, 2015

 Record created 2015-06-25, last modified 2018-03-17

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