A Graph-Based Formation Algorithm for Odor Plume Tracing

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 tracking 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. Jorge M. Soares Distributed Intelligent Systems and Algorithms Laboratory, School of Architecture, Civil and Environmental Engineering, École Polytechnique Fédérale de Lausanne, Lausanne, Switzerland Laboratory of Robotics and Systems in Engineering and Science, Instituto Superior Técnico, University of Lisbon, Lisbon, Portugal e-mail: [email protected] A. Pedro Aguiar Department of Electrical and Computer Engineering, Faculdade de Engenharia da Universidade do Porto, Porto, Portugal e-mail: [email protected] António M. Pascoal Laboratory of Robotics and Systems in Engineering and Science, Instituto Superior Técnico, University of Lisbon, Lisbon, Portugal National Institute of Oceanography, Dona Paula, Goa, India e-mail: [email protected] Alcherio Martinoli Distributed Intelligent Systems and Algorithms Laboratory, School of Architecture, Civil and Environmental Engineering, École Polytechnique Fédérale de Lausanne, Lausanne, Switzerland e-mail: [email protected]