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This paper deals with the problem of odor source localization using multiple mobile robots. A distributed coordination control scheme is proposed by introducing a trajectory level into the original distributed architecture. In the trajectory level, a spiral model is designed and used to deal with a new robot position produced by cooperative search algorithms in order to generate a spiral trajectory that can describe position transition from the current position of the robot to the new position. The effectiveness of the distributed coordination control scheme is illustrated in the problem of odor source localization.
Date of Conference: 7-10 Nov. 2010