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

Authors:
Ali Marjovi;Lino Marques
Affiliations:
Institute of Systems and Robotics, University of Coimbra, Coimbra, Portugal 3030-290;Institute of Systems and Robotics, University of Coimbra, Coimbra, Portugal 3030-290
Venue:
Autonomous Robots
Year:
2013

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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.