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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<span class="external-identifiers"> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/2009.00156v1">arXiv:2009.00156v1</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/yefaxwofyjeffm23km4fu32wqq">fatcat:yefaxwofyjeffm23km4fu32wqq</a> </span>
more »... 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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