Simulation of coordinating sniffer robots for building odor maps

In this paper we present a method to generate an odor map of a remote environment. The paper consists of three major modules: [1] odor processing- consisting of sensing the odor, recognizing through neural networks and representing it in an appropriate format, [2] algorithms for odor detection in a 3D space and locating odor source in variable wind direction, [3] map building- consisting of autonomous navigation and coordination among multiple robots towards building the map of the environment. The coordination among the robots ensures the best possible odor map building. Thus we propose an approach to build maps using sniffer robots that coordinates in a decentralized manner. © 2009 IEEE.