Multi-robot Topological Exploration Using Olfactory Cues

Abstract

This paper presents a distributed multi-robot system to search for odor sources inside unknown environments. The robots cooperatively explore the whole environment and generate its topological map. The exploration method is a decentralized frontier based algorithm that is enhanced by considering odor concentration at each frontier inside its cost/gain function. The robots independently generate local topological maps and by transferring them to each other, they are able to integrate these maps and generate a whole global map. The proposed method was tested and validated in real reduced scale scenarios.

DOI: 10.1007/978-3-642-32723-0_4

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Cite this paper

@inproceedings{Marjovi2010MultirobotTE, title={Multi-robot Topological Exploration Using Olfactory Cues}, author={Ali Marjovi and Alexander Fedorov}, booktitle={DARS}, year={2010} }