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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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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DOI: https://doi.org/10.1007/s10514-013-9336-1