Abstract—Researchers have been working on odour tracking and sniffing robotics research, the purpose of the research is to replace sniffer dogs in Odour Source Localisation (OSL) task. Sniffer dogs have constraints in performing OSL task i.e. indentify the location of suspicious items such as explosives, illegal drugs or poison gas, it is actually risking the sniffer dogs’ life. Thus far, odour tracking robotics research has shifted from single sniffer robot to multi-sniffer robots. It is because multi-sniffer robots can perform OSL task cooperatively over wireless network communication. Most of the multi-sniffer robots use star network topology which has a limitation of short exploration distance. It is constrained by the transmission distance range of a server transmitter i.e. a server transmitter with star network topology has a transmission distance limit; its clients (multi-sniffer robots) can only search within the transmission distance limit. This paper proposes a network topology that extends the exploration distance of multi-robots especially for multi-sniffer robots application. The proposed method has successfully extended the exploration distance by multiplying the transmission distance range with the total number of multi-sniffer robots.
Index Terms—Multiple robot systems, sniffer robots, odour source localisation, wireless network topology.
Kok Seng Eu, Kian Meng Yap, and Tiam Hee Tee are with the Faculty of Science and Technology, Sunway University, Malaysia (e-mail: {12058889, kmyap, 12056644}@imail.sunway.edu.my).
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Cite:Kok Seng Eu, Kian Meng Yap, and Tiam Hee Tee, "Supporting Odour Source Localisation of Multi-Sniffer Robots with up-Wind Formation Repeater Network Topology," Journal of Advances in Computer Networks vol. 3, no. 1, pp. 24-27, 2015.
