Multiple robots plume-tracing in open space obstructed environments

Plume-tracing mobile robots have the potential to detect emissions caused by dangerous sources, such as early stage fire, toxic gas and explosives, without endangering human life during the detection and source localization process. So far, most researchers have focused on odour source localization using a single mobile robot; however, using a single robot to locate an odour source has limitations. In this study, multiple robots were adopted and cooperated with a supervisory program to locate an odour source in open space, wind-varying, obstructed environments. The supervisory program collected information from individual robots and designated different control commands to individual robots. Based on the information provided by individual robots, the supervisory program was able to determine a region where the odour source was located. A series of simulations has been conducted and the simulations outcomes showed that the proposed strategies for multiple robots are successful in locating an odour source.