CaltechAUTHORS
  A Caltech Library Service

Swarm robotic odor localization

Hayes, Adam T. and Martinoli, Alcherio and Goodman, Rodney M. (2001) Swarm robotic odor localization. In: Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium. Vol.2. IEEE , Piscataway, NJ, pp. 1073-1078. ISBN 0-7803-6612-3. https://resolver.caltech.edu/CaltechAUTHORS:20190320-143921262

[img] PDF - Published Version
See Usage Policy.

661Kb

Use this Persistent URL to link to this item: https://resolver.caltech.edu/CaltechAUTHORS:20190320-143921262

Abstract

This paper presents an investigation of odor localization by groups of autonomous mobile robots using principles of swarm intelligence. We describe a distributed algorithm by which groups of agents can solve the full odor localization task more efficiently than a single agent. We then demonstrate that a group of real robots under fully distributed control can successfully traverse a real odor plume. Finally, we show that an embodied simulator can faithfully reproduce the real robots experiments and thus can be a useful tool for off-line study and optimization of odor localization in the real world.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/IROS.2001.976311DOIArticle
Additional Information:© 2001 IEEE. We would like to thank O. Holland, S. Kazadi, J. Pugh, R. Enright, L. Van Tol, and A. Lundsten for contributions on various hardware and software aspects of the project. We would also like to thank our collaborators in the DARPA-ONR Chemical Plume Tracing Program for their valuable input. This work is supported in part by the Center for Neuromorphic Systems Engineering under grant EEC-9402726, by DARPA under grant DAAK60-97-K-9503, by the ONR under grant N00014-98-1-0821, and by the ARO under MURI grant DAAG55-98-1-0266. A. Hayes is supported by a NSF Graduate Research Fellowship.
Funders:
Funding AgencyGrant Number
NSFEEC-9402726
Defense Advanced Research Projects Agency (DARPA)DAAK60-97-K-9503
Office of Naval Research (ONR)N00014-98-1-0821
Army Research Office (ARO)DAAG55-98-1-0266
NSF Graduate Research FellowshipUNSPECIFIED
Center for Neuromorphic Systems Engineering, CaltechUNSPECIFIED
Record Number:CaltechAUTHORS:20190320-143921262
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20190320-143921262
Official Citation:A. T. Hayes, A. Martinoli and R. M. Goodman, "Swarm robotic odor localization," Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180), Maui, HI, USA, 2001, pp. 1073-1078 vol.2. doi: 10.1109/IROS.2001.976311
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:94003
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:20 Mar 2019 21:51
Last Modified:03 Oct 2019 20:59

Repository Staff Only: item control page