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Related Experiment Video

Updated: Jan 21, 2026

Electroantennography-based Bio-hybrid Odor-detecting Drone using Silkmoth Antennae for Odor Source Localization
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Consensus-Based Odor Source Localization by Multiagent Systems Under Resource Constraints.

Abhinav Sinha, Ritesh Kumar, Rishemjit Kaur

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    This study introduces a hierarchical control strategy for mobile robot olfaction systems to efficiently locate odor sources. The method enhances cooperative control in resource-constrained multiagent systems (MASs) for faster odor source localization (OSL).

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    Area of Science:

    • Robotics
    • Artificial Intelligence
    • Control Systems Engineering

    Background:

    • Networked multiagent systems (MASs) are increasingly used for mobile robot olfaction (MRO) tasks like odor source localization (OSL).
    • These systems face significant challenges due to limited computational power, communication bandwidth, and energy resources.
    • There is a critical need for efficient algorithms that can perform OSL rapidly under these constraints.

    Purpose of the Study:

    • To design a novel two-level hierarchical cooperative control strategy for heterogeneous nonlinear MASs performing OSL.
    • To achieve expeditious consensus among agents for accurate odor source identification.
    • To develop a resource-efficient and robust control approach suitable for constrained environments.

    Main Methods:

    • A hierarchical control synthesis approach was employed, starting with group decision-making followed by robust control.
    • A group decision-making layer utilizes odor concentration and wind information to predict the odor source location as a reference.
    • An event-triggered sliding-mode control (SMC) strategy is implemented in the control layer for robustness and resource efficiency.

    Main Results:

    • The proposed hierarchical strategy effectively guides agents towards consensus on the odor source location.
    • The event-triggered SMC approach maintains control robustness while significantly reducing computational and communication burdens.
    • Numerical simulations validated the efficiency and effectiveness of the designed control scheme.

    Conclusions:

    • The developed two-level hierarchical cooperative control strategy offers an efficient solution for OSL in resource-constrained MASs.
    • This approach successfully balances the need for fast localization with the limitations of mobile robot olfaction systems.
    • The integration of event-triggered SMC provides a robust and resource-aware method for cooperative control in such applications.