Autonomous Robots

, Volume 35, Issue 2–3, pp 93–109 | Cite as

Optimal spatial formation of swarm robotic gas sensors in odor plume finding

  • Ali Marjovi
  • Lino Marques


Finding the best spatial formation of stationary gas sensors in detection of odor clues is the first step of searching for olfactory targets in a given space using a swarm of robots. Considering no movement for a network of gas sensors, this paper formulates the problem of odor plume detection and analytically finds the optimal spatial configuration of the sensors for plume detection, given a set of assumptions. This solution was analyzed and verified by simulations and finally experimentally validated in a reduced scale realistic environment using a set of Roomba-based mobile robots.


Odor plume finding Olfactory search  Swarm robotics formation Gas sensor coverage 


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Copyright information

© Springer Science+Business Media New York 2013

Authors and Affiliations

  1. 1.Institute of Systems and RoboticsUniversity of CoimbraCoimbraPortugal

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