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Olfactory coordinated area coverage

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Abstract

This paper proposes an olfaction based methodology to automatically cover an unknown area enabling the decoupled cooperation of a group of floor cleaning mobile robots. This method is based on the utilisation of low cost chemical sensors in cleaning mobile robots, in order to differentiate clean from dirty areas. The experimental results show that the use of olfactory capabilities allows to efficiently cover and clean a certain area, and demonstrate the possibility of coordinating several mobile robots without the need of expensive sensing capabilities, map building or complex algorithms for task scheduling.

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Authors and Affiliations

  1. Institute of Systems and Robotics, Department of Electrical and Computers Engineering, University of Coimbra, Portugal

    Svetlana Larionova, Nuno Almeida, Lino Marques & A. T. de Almeida

Authors
  1. Svetlana Larionova
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  2. Nuno Almeida
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  3. Lino Marques
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  4. A. T. de Almeida
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Corresponding author

Correspondence to Svetlana Larionova.

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Larionova, S., Almeida, N., Marques, L. et al. Olfactory coordinated area coverage. Auton Robot 20, 251–260 (2006). https://doi.org/10.1007/s10514-006-7099-7

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  • DOI: https://doi.org/10.1007/s10514-006-7099-7

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