A highly flexible virtual physics-based control framework for multi-robot chemical plume tracing

@article{Zou2009AHF,
  title={A highly flexible virtual physics-based control framework for multi-robot chemical plume tracing},
  author={Yuhua Zou and Weihai Chen and Dehan Luo},
  journal={2009 IEEE International Conference on Control and Automation},
  year={2009},
  pages={775-779}
}
This paper presents a virtual-physics based control framework for swarm robotic chemical plume tracing and source localization problem. The control force includes three kinds of effort, which are lattice formation force, plume tracing force, and obstacle avoidant force. The plume tracing and source identify strategy are based on the chemical mass flux passing through the robot colony. Simulation results show that the proposed control framework and tracing strategy can effectively navigate the… CONTINUE READING
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