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

@article{Soares2016Towards3D,
  title={Towards 3-D distributed odor source localization: An extended graph-based formation control algorithm for plume tracking},
  author={Jorge M. Soares and Ali Marjovi and Jonathan Giezendanner and Anil Kodiyan and Antonio Pedro Aguiar and Ant{\'o}nio Manuel Santos Pascoal and Alcherio Martinoli},
  journal={2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year={2016},
  pages={1729-1736}
}
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… CONTINUE READING

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