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

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

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 environme...