Multi-robot Topological Exploration Using Olfactory Cues

  • Ali Marjovi
  • Lino Marques
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 83)


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.


Mobile Robot Task Allocation Odor Source Odor Concentration Multiple Robot 
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.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2013

Authors and Affiliations

  1. 1.Universidade de CoimbraCoimbraPortugal

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