LoCUS: A Multi-Robot Loss-Tolerant Algorithm for Surveying Volcanic Plumes

  title={LoCUS: A Multi-Robot Loss-Tolerant Algorithm for Surveying Volcanic Plumes},
  author={John J. Erickson and Abhinav Aggarwal and G. Matthew Fricke and Melanie E. Moses},
  journal={2020 Fourth IEEE International Conference on Robotic Computing (IRC)},
Measurement of volcanic CO2 flux by a drone swarm poses special challenges. Drones must be able to follow gas concentration gradients while tolerating frequent drone loss. We present the LoCUS algorithm as a solution to this problem and prove its robustness. LoCUS relies on swarm coordination and self-healing to solve the task. As a point of contrast we also implement the MoBS algorithm, derived from previously published work, which allows drones to solve the task independently. We compare the… 

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