Sniffy Bug: A Fully Autonomous Swarm of Gas-Seeking Nano Quadcopters in Cluttered Environments

Bardienus P. Duisterhof, Shushuai Li, Javier Burgues, Vijay Janapa Reddi, Guido C.H.E. de Croon

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

1 Citation (Scopus)

Abstract

Nano quadcopters are ideal for gas source localization (GSL) as they are safe, agile and inexpensive. However, their extremely restricted sensors and computational resources make GSL a daunting challenge. We propose a novel bug algorithm named ‘Sniffy Bug', which allows a fully autonomous swarm of gas-seeking nano quadcopters to localize a gas source in unknown, cluttered, and GPS-denied environments. The computationally efficient, mapless algorithm foresees in the avoidance of obstacles and other swarm members, while pursuing desired waypoints. The waypoints are first set for exploration, and, when a single swarm member has sensed the gas, by a particle swarm optimization-based (PSO) procedure. We evolve all the parameters of the bug (and PSO) algorithm using our novel simulation pipeline, ‘AutoGDM'. It builds on and expands open source tools in order to enable fully automated end-to-end environment generation and gas dispersion modeling, allowing for learning in simulation. Flight tests show that Sniffy Bug with evolved parameters outperforms manually selected parameters in cluttered, real-world environments. Videos: https://bit.ly/37MmtdL
Original languageEnglish
Title of host publicationIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021
Subtitle of host publicationProceedings
PublisherIEEE
Pages9099-9106
Number of pages8
ISBN (Electronic)978-1-6654-1714-3
ISBN (Print)978-1-6654-1715-0
DOIs
Publication statusPublished - 2021
Event2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) - Online at Prague, Czech Republic
Duration: 27 Sep 20211 Oct 2021

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

Conference2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Country/TerritoryCzech Republic
CityOnline at Prague
Period27/09/211/10/21

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