Abstract
We investigate the performance of three bio-inspired odor source localization algorithms used in non-cooperating multi-robot systems. Our performance metric is the distance overhead of the first robot to reach the source, which is a good measure for the speed of an odor source localization algorithm. Using the performance distribution of single-robot experiments, we calculate an ideal performance for multi-robot teams. We carry out simulations in a realistic robotic simulator and provide quantitative evidence of the differences between ideal and realistic performances of a given algorithm. A closer analysis of the results show that these differences are mainly due to physical interference among robots.
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Lochmatter, T., Martinoli, A. (2009). Understanding the Potential Impact of Multiple Robots in Odor Source Localization. In: Asama, H., Kurokawa, H., Ota, J., Sekiyama, K. (eds) Distributed Autonomous Robotic Systems 8. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-00644-9_21
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DOI: https://doi.org/10.1007/978-3-642-00644-9_21
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