Distributed Odor Source Localization

被引：299

作者：

Hayes, Adam T. ^{[1
]}

Martinoli, Alcherio ^{[1
]}

Goodman, Rodney M. ^{[1
]}

机构：

[1] CALTECH, Collect Robot Grp 136 93, Pasadena, CA 91125 USA

来源：

IEEE SENSORS JOURNAL | 2002年 / 2卷 / 03期

基金：

美国国家科学基金会;

关键词：

Chemical plume tracing; collective autonomous robotics; distributed sensing; odor localization; olfaction; swarm intelligence;

D O I：

10.1109/JSEN.2002.800682

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

This paper presents an investigation of odor localization by groups of autonomous mobile robots. First, we describe a distributed algorithm by which groups of agents can solve the full odor localization task. Next, we establish that conducting polymer-based odor sensors possess the combination of speed and sensitivity necessary to enable real world odor plume tracing and we demonstrate that simple local position, odor, and flow information, tightly coupled with robot behavior, is sufficient to allow a robot to localize the source of an odor plume. Finally, we show that elementary communication among a group of agents can increase the efficiency of the odor localization system performance.

引用

页码：260 / 271

页数：12

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