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Published November 2001 | Published
Book Section - Chapter Open

Swarm robotic odor localization


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.

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.

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