Autonomous Agents and Multi-Agent Systems

, Volume 28, Issue 1, pp 72–100 | Cite as

Experimental studies on chemical concentration map building by a multi-robot system using bio-inspired algorithms

  • Mirbek Turduev
  • Gonçalo Cabrita
  • Murat Kırtay
  • Veysel Gazi
  • Lino Marques


In this article we describe implementations of various bio-inspired algorithms for obtaining the chemical gas concentration map of an environment filled with a contaminant. The experiments are performed using Khepera III and miniQ miniature mobile robots equipped with chemical gas sensors in an environment with ethanol gas. We implement and investigate the performance of decentralized and asynchronous particle swarm optimization (DAPSO), bacterial foraging optimization (BFO), and ant colony optimization (ACO) algorithms. Moreover, we implement sweeping (sequential search algorithm) as a base case for comparison with the implemented algorithms. During the experiments at each step the robots send their sensor readings and position data to a remote computer where the data is combined, filtered, and interpolated to form the chemical concentration map of the environment. The robots also exchange this information among each other and cooperate in the DAPSO and ACO algorithms. The performance of the implemented algorithms is compared in terms of the quality of the maps obtained and success of locating the target gas sources.


Particle Swarm Optimization Mobile Robot Particle Swarm Optimization Algorithm Inertial Measurement Unit Sensor Reading 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.



Part of this work was performed at the time V. Gazi was affiliated with and M. Kırtay was a visiting intern at TOBB ETU. The authors would like to thank Yunus Ataş, Pedro Sousa, and Bruno Antunes for their help in software and hardware development during various stages of this study.


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Copyright information

© The Author(s) 2012

Authors and Affiliations

  • Mirbek Turduev
    • 1
  • Gonçalo Cabrita
    • 2
  • Murat Kırtay
    • 3
  • Veysel Gazi
    • 4
  • Lino Marques
    • 2
  1. 1.Department of Electrical and Electronics EngineeringTOBB University of Economics and TechnologyAnkaraTurkey
  2. 2.Department of Electrical and Computer EngineeringInstitute of Systems and Robotics, University of CoimbraCoimbraPortugal
  3. 3.Department of Computer ScienceÖzyeğin UniversityİstabulTurkey
  4. 4.Department of Electrical and Electronics EngineeringIstanbul Kemerburgaz UniversityBağcılar, IstanbulTurkey

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