Marjovi, AliMarques, Lino2014-03-032014-03-032014-03-03201310.1007/s10514-013-9336-1https://infoscience.epfl.ch/handle/20.500.14299/101276Finding the best spatial formation of stationary gas sensors in detection of odor clues is the first step of searching for olfactory targets in a given space using a swarm of robots. Considering no movement for a network of gas sensors, this paper formulates the problem of odor plume detection and analytically finds the optimal spatial configuration of the sensors for plume detection, given a set of assumptions. This solution was analyzed and verified by simulations and finally experimentally validated in a reduced scale realistic environment using a set of Roomba-based mobile robots.Odor plume findingOlfactory searchSwarm robotics formationGas sensor coveragetext::journal::journal article::research article