Towards 3-D Distributed Odor Source Localization: An Extended Graph-Based Formation Control Algorithm for Plume Tracking

• Type: Article in International Conference Proceedings Book
• Date: 2016

Authors

Soares, JM (Author) Other; Marjovi, A (Author) Other; Giezendanner, J (Author) Other; Kodiyan, A (Author) Other; Aguiar, AP (Author) FEUP; Pascoal, AM (Author) Other; Martinoli, A (Author) Other

Conference proceedings International

Title: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016, Daejeon, South Korea, October 9-14, 2016

Pages: 1729-1736

Indexing

ISI Web of Knowledge - 13 Citations

Scopus - 22 Citations

Other information

Authenticus ID: P-00M-FXW

DOI: 10.1109/iros.2016.7759277

Abstract (EN): The large number of potential applications for robotic odor source localization has motivated the development of a variety of plume tracking algorithms, the majority of which work in restricted two-dimensional scenarios. In this paper, we introduce a distributed algorithm for 3-D plume tracking using a system of ground and aerial robots in formation. We propose an algorithm that takes advantage of spatially distributed measurements to track the plume in 3-D and lead the robots to the source by integrating three behaviors - upwind movement, plume centering, and Laplacian feedback formation control. We evaluate this strategy in simulation and with real robots in a wind tunnel. For a source close to the ground, results show that a team of robots running our algorithm reaches the source with low lateral error while also tracing the horizontal and vertical plume shape.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 8