LoCUS: A multi-robot loss-tolerant algorithm for surveying volcanic plumes [article]

John Erickson, Abhinav Aggarwal, G. Matthew Fricke, Melanie E. Moses
<span title="2020-09-01">2020</span> <i > arXiv </i> &nbsp; <span class="release-stage" >pre-print</span>
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
more &raquo; ... ffectiveness of these algorithms using drone simulations, and find that LoCUS provides a reliable and efficient solution to the volcano survey problem. Further, the novel data-structures and algorithms underpinning LoCUS have application in other areas of fault-tolerant algorithm research.
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