Supporting Odour Source Localisation of Multi-Sniffer Robots with up-Wind Formation Repeater Network Topology

Abstract

Abstract-Researchers have been working on odour tracking and sniffing robotics research, the purpose of the research is to replace sniffer dogs in Odour Source Localisation (OSL) task. Sniffer dogs have constraints in performing OSL task i.e. indentify the location of suspicious items such as explosives, illegal drugs or poison gas, it is actually risking the sniffer dogs' life. Thus far, odour tracking robotics research has shifted from single sniffer robot to multi-sniffer robots. It is because multi-sniffer robots can perform OSL task cooperatively over wireless network communication. Most of the multi-sniffer robots use star network topology which has a limitation of short exploration distance. It is constrained by the transmission distance range of a server transmitter i.e. a server transmitter with star network topology has a transmission distance limit; its clients (multi-sniffer robots) can only search within the transmission distance limit. This paper proposes a network topology that extends the exploration distance of multi-robots especially for multi-sniffer robots application. The proposed method has successfully extended the exploration distance by multiplying the transmission distance range with the total number of multi-sniffer robots.Index Terms-Multiple robot systems, sniffer robots, odour source localisation, wireless network topology.

Multi-unmanned aerial vehicle multi acoustic source localization

“…Cooperative strategy : Localization technique using the range information obtained by multiple onboard receivers, 18 using heterogeneous sensor measurements, 19 based on consensus algorithms, 20 convex optimization, 21 encounter averaging-based approach, 22 bioinspired algorithm, 23 decentralized source localization, 24 network topology for multi-agent system, 25 clock synchronization protocols for wireless sensor networks, 26 time synchronization protocol for sensor networks, 27 cooperative vehicular networking, 28 cooperative localization using direction of arrival measurements, 29 and acoustic target tracking in noisy environments using reconfigurable cluster of mobile agents 30 have been described.…”