A Graph-Based Formation Algorithm for Odor Plume Tracing
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- 关键词：Odor source localization ; Plume tracing ; Formation control ; Robotic olfaction
- 刊名：Springer Tracts in Advanced Robotics
- 出版年：2016
- 出版时间：2016
- 年：2016
- 卷：112
- 期：1
- 页码：255-269
- 全文大小：805 KB
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A. Pedro Aguiar (7)
António M. Pascoal (6) (8)
Alcherio Martinoli (5)
5. Distributed Intelligent Systems and Algorithms Laboratory, School of Architecture, Civil and Environmental Engineering, École Polytechnique Fédérale de Lausanne, Lausanne, Switzerland
6. Institute for Systems and Robotics, Instituto Superior Técnico, University of Lisbon, Lisbon, Portugal
7. Department of Electrical and Computer Engineering, Faculty of Engineering, University of Porto, Porto, Portugal
8. National Institute of Oceanography, Dona Paula, Goa, India - 丛书名：Distributed Autonomous Robotic Systems
- ISBN：978-4-431-55879-8
- 刊物类别：Engineering
- 刊物主题：Automation and Robotics
Control Engineering - 出版者：Springer Berlin / Heidelberg
- ISSN：1610-742X
文摘
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 tracing 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.