Formation-Based Odor Source Localization for Distributed Robotic Systems

This project tackles the problem of robotic odour source localisation, that is, the use of robots to find the source of a chemical release. As the odour travels away from the source, in the form of a plume carried by the wind or current, small scale turbulence causes it to separate into intermittent patches, suppressing any gradients and making this a particularly challenging search problem. We focus on distributed strategies for odour plume tracing in the air and in the water and look primarily at 2D scenarios, although results are also presented for 3D tracing.

The common thread to our work is the use of multiple robots in formation, each outfitted with odour and flow sensing devices. By having more than one robot, we can gather observations at different locations, thus helping overcome the difficulties posed by the patchiness of the odour concentration. The flow (wind or current) direction is used to orient the formation and move the robots up-flow, while the measured concentrations are used to centre the robots in the plume and scale the formation to trace its limits.




Towards 3-D Distributed Odor Source Localization: An Extended Graph-Based Formation Control Algorithm for Plume Tracking

J. M. Soares; A. Marjovi; J. Giezendanner; A. A. Kodiyan; A. P. Aguiar et al. 

2016. 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, Daejeon, South Korea, October 9-14, 2016. DOI : 10.1109/IROS.2016.7759277.

An Algorithm for Formation-Based Chemical Plume Tracing Using Robotic Marine Vehicles

J. M. Soares; A. P. Aguiar; A. Pascoal; A. Martinoli 

2016. 2016 MTS/IEEE Oceans, Monterey, CA, USA, September 19-23, 2’16. DOI : 10.1109/OCEANS.2016.7761119.

Formation-Based Odour Source Localisation Using Distributed Terrestrial and Marine Robotic Systems

J. M. Dias Almeida Rodrigues Soares / A. Martinoli; A. M. Santos Pascoal (Dir.)  

Lausanne, EPFL, 2016. 

A Graph-Based Formation Algorithm for Odor Plume Tracing

J. M. Soares; A. P. Aguiar; A. M. Pascoal; A. Martinoli 

2016. 12th International Symposium on Distributed Autonomous Robotic Systems (DARS), Daejeon, South Korea, November 2-5, 2014. p. 255-269. DOI : 10.1007/978-4-431-55879-8_18.


The Khepera IV Mobile Robot: Performance Evaluation, Sensory Data and Software Toolbox

J. M. Soares; I. Navarro Oiza; A. Martinoli 

2015. ROBOT2015: Second Iberian Robotics Conference, Lisbon, Portugal, November 19-21, 2015. p. 767-781. DOI : 10.1007/978-3-319-27146-0_59.

A Distributed Formation-based Odor Source Localization Algorithm – Design, Implementation, and Wind Tunnel Evaluation

J. M. Soares; A. P. Aguiar; A. Pascoal; A. Martinoli 

2015. 2015 IEEE International Conference on Robotics and Automation, Seattle, WA, USA, May 26-30, 2015. DOI : 10.1109/ICRA.2015.7139436.


Design and Implementation of a Range-Based Formation Controller for Marine Robots

J. M. Soares; A. P. Aguiar; A. M. Pascoal; A. Martinoli 

2014. ROBOT2013: First Iberian Robotics Conference, Madrid, Spain, November 28-29, 2013. p. 55-67. DOI : 10.1007/978-3-319-03413-3_5.


Joint ASV/AUV Range-Based Formation Control: Theory and Experimental Results

J. M. Soares; A. P. Aguiar; A. Pascoal; A. Martinoli 

2013. 2013 IEEE International Conference on Robotics and Automation, Karlsruhe, Germany, May 6-10, 2013. p. 5579-5585. DOI : 10.1109/ICRA.2013.6631378.