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On designing a cooperative control system for multiple mobile robots to locate the source of odor

conference contribution
posted on 06.12.2017, 00:00 authored by Qiang LuQiang Lu, Qing-Long HanQing-Long Han
This paper deals with the problem of odor source localization using a multi-robot system. A cooperative control system, which can coordinate the multi-robot system to locate the source of odor, is designed and independently executed by each robot. The proposed cooperative control system consists of three levels. In the first level, based on a mixture ensemble Kalman filtering theory, a new cooperative search algorithm, which can predict the probable position of the odor source by emph{exploiting} the information among the multi-robot system, is proposed. In the second level, a trajectory planning algorithm, by which the next position of a robot can be generated according to the predicted position of the odor source, detection events and non-detection events, is developed. In the third level, a consensus algorithm is used to control the robot to move toward the next position. Finally, the performance capabilities of the proposed cooperative control system are illustrated for the problem of odor source localization.


Category 1 - Australian Competitive Grants (this includes ARC, NHMRC)


Parent Title

Proceedings of the 18th IFAC World Congress, 28 August - 2 September 2011, Milano, Italy.

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Milano, Italy


International Federation of Automatic Control (IFAC)

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Peer Reviewed


Open Access


Era Eligible


Name of Conference

International Federation of Automatic Control. World Congress