Experimental validation of diffusion coefficient identification using a multi-robot system

This paper presents an implementation of an online parameter identification algorithm for 2D diffusion processes on an multi-robot experimental test-bed. The algorithm uses mobile sensor networks to collect data and estimate the diffusion coefficient. In order to verify the algorithm in realistic diffusion fields, we first build a carbon dioxide (CO
₂
) diffusion field. Then we construct a sensor grid to measure the field so that a pre-collected and smoothed diffusion process can be generated. We perform tests in the pre-collected field at locations with different diffusion conditions. The experimental results show that the algorithm is applicable when dealing with different local circumstances. In addition, The test-bed is also able to produce controllable diffusion fields that can be used to validate other algorithms.