This paper presents a distributed multi-robot system to search for odor sources inside unknown environments. The robots cooperatively explore the whole environment and generate its topological map. The exploration method is a decentralized frontier based algorithm that is enhanced by considering odor concentration at each frontier inside its cost/gain function. The robots independently generate local topological maps and by transferring them to each other, they are able to integrate these maps and generate a whole global map. The proposed method was tested and validated in real reduced scale scenarios. © 2013 Springer-Verlag.
CITATION STYLE
Marjovi, A., & Marques, L. (2012). Multi-robot topological exploration using olfactory cues. In Springer Tracts in Advanced Robotics (Vol. 83 STAR, pp. 47–60). https://doi.org/10.1007/978-3-642-32723-0_4
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