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A Graph-Based Formation Algorithm for Odor Plume Tracing

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Distributed Autonomous Robotic Systems

Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 112 ))

Abstract

Odor plume tracing is a challenging robotics application, made difficult by the combination of the patchy characteristics of odor distribution and the slow response of the available sensors. This work proposes a graph-based formation control algorithm to coordinate a group of small robots equipped with odor sensors, with the goal of tracing an odor plume to its source. This approach makes it possible to organize the robots in arbitrary and evolving formation shapes with the aim of improving tracing performance. The algorithm was evaluated in a high-fidelity submicroscopic simulator, using different formations and achieving quick convergence and negligible distance overhead in laminar wind flows.

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Acknowledgments

This work was partially funded by project PEst-OE/EEI/LA0009/2013 and grant SFRH/BD/51073/2010 from Fundação para a Ciência e Tecnologia. We sincerely thank Ali Marjovi at DISAL for the detailed and constructive comments.

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Authors and Affiliations

  1. Distributed Intelligent Systems and Algorithms Laboratory, School of Architecture, Civil and Environmental Engineering, École Polytechnique Fédérale de Lausanne, Lausanne, Switzerland

    Jorge M. Soares & Alcherio Martinoli

  2. Institute for Systems and Robotics, Instituto Superior Técnico, University of Lisbon, Lisbon, Portugal

    Jorge M. Soares & António M. Pascoal

  3. Department of Electrical and Computer Engineering, Faculty of Engineering, University of Porto, Porto, Portugal

    A. Pedro Aguiar

  4. National Institute of Oceanography, Dona Paula, Goa, India

    António M. Pascoal

Authors
  1. Jorge M. Soares
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  2. A. Pedro Aguiar
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  3. António M. Pascoal
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  4. Alcherio Martinoli
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Corresponding author

Correspondence to Jorge M. Soares .

Editor information

Editors and Affiliations

  1. Japan Advanced Institute of Science and Technology, Nomi, Ishikawa, Japan

    Nak-Young Chong

  2. Electronics and Telecommunications Research Institute, Daejeon, Korea (Republic of)

    Young-Jo Cho

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Soares, J.M., Aguiar, A.P., Pascoal, A.M., Martinoli, A. (2016). A Graph-Based Formation Algorithm for Odor Plume Tracing. In: Chong, NY., Cho, YJ. (eds) Distributed Autonomous Robotic Systems. Springer Tracts in Advanced Robotics, vol 112 . Springer, Tokyo. https://doi.org/10.1007/978-4-431-55879-8_18

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  • DOI: https://doi.org/10.1007/978-4-431-55879-8_18

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  • Publisher Name: Springer, Tokyo

  • Print ISBN: 978-4-431-55877-4

  • Online ISBN: 978-4-431-55879-8

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