Towards 3-D distributed odor source localization: An extended graph-based formation control algorithm for plume tracking

Abstract

Abstract-The large number of potential applications for robotic odor source localization has motivated the development of a variety of plume tracking algorithms, the majority of which work in restricted two-dimensional scenarios. In this paper, we introduce a distributed algorithm for 3-D plume tracking using a system of ground and aerial robots in formation. We propose an algorithm that takes advantage of spatially distributed measurements to track the plume in 3-D and lead the robots to the source by integrating three behaviors -upwind movement, plume centering, and Laplacian feedback formation control. We evaluate this strategy in simulation and with real robots in a wind tunnel. For a source close to the ground, results show that a team of robots running our algorithm reaches the source with low lateral error while also tracing the horizontal and vertical plume shape.

A 3-D bio-inspired odor source localization and its validation in realistic environmental conditions

“…Thus, given a position p(x, y, z), the aerial robot moves towards p with a constant speed. A similar system has been used in [10].…”

“…The topology of the formation is adapted based on the observations and the whole group moves eventually towards the source [9]. Recently a 3D formation-based system has also been presented [10]. In general, these methods have low computational and memory requirements, while need at least two robots and a mean of inter-robot relative positioning.…”

Environmental monitoring using autonomous vehicles: a survey of recent searching techniques

“…Unfortunately, the disturbance effect of drones on sensor measurements and their short endurance have severely limited their application. In what concerns ground operations, most robotic platforms are wheeled and in particular nonholonomic unicycle-modeled robots (two wheel differential drive with additional passive wheels) are popular, due to their simple design and superior maneuverability [10 • ], [11,12,13,14], [15 • ]. Among all types of vehicles, marine robots are probably the most challenging to build and operate in the adverse conditions imposed by the water medium.…”

“…Notice that experimental results such as odor tracing in a wind tunnel [10 • ], [11,12,13,14], [15 • ], underground gas leakage tracing in a and pool [7], and source tracing in a controlled water reservoir [20,23], were all carried out in controlled environments. On the other Figure 1 (adapted from [29]): Example of chemotaxis of three agents using a leader-follower approach.…”

“…Source localization was done by plume centering of the formation based on odor measurements obtained from all the robots in the formation. With an extension to a 3D scenario, another study presents simulation and experimental results for 3D distributed plume tracking with a group of land and air robots measuring odor concentration in a wind tunnel [12]. In [44], the authors simulated a group of MEDUSA class of marine vehicles [45] measuring conductivity in a fresh water stream.…”