Understanding the Potential Impact of Multiple Robots in Odor Source Localization [chapter]

Thomas Lochmatter, Alcherio Martinoli
2009 Distributed Autonomous Robotic Systems 8  
We investigate the performance of three bio-inspired odor source localization algorithms used in non-cooperating multi-robot systems. Our performance metric is the distance overhead of the first robot to reach the source, which is a good measure for the speed of an odor source localization algorithm. Using the performance distribution of single-robot experiments, we calculate an ideal performance for multi-robot teams. We carry out simulations in a realistic robotic simulator and provide
more » ... and provide quantitative evidence of the differences between ideal and realistic performances of a given algorithm. A closer analysis of the results show that these differences are mainly due to physical interference among robots.
doi:10.1007/978-3-642-00644-9_21 dblp:conf/dars/LochmatterM08 fatcat:aafuqqqzqneanj2uqo7r5nnllu