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Optimal spatial formation of swarm robotic gas sensors in odor plume finding

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Abstract

Finding 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.

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Notes

  1. ANSYS Fluent CFD, “FLUENT user’s manual” Software Release, vol. 6, 2006.

  2. http://www.irobot.com.

  3. http://www.ros.org.

  4. http://www.ros.org/wiki/amcl.

  5. http://www.ros.org/wiki/wifi_comm.

  6. http://www.e2v.com.

  7. http://www.figarosensor.com.

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Authors and Affiliations

  1. Institute of Systems and Robotics, University of Coimbra, 3030-290, Coimbra, Portugal

    Ali Marjovi & Lino Marques

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  1. Ali Marjovi
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  2. Lino Marques
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Correspondence to Ali Marjovi.

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Marjovi, A., Marques, L. Optimal spatial formation of swarm robotic gas sensors in odor plume finding. Auton Robot 35, 93–109 (2013). https://doi.org/10.1007/s10514-013-9336-1

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