{"id":"https://openalex.org/W2531896904","doi":"https://doi.org/10.1109/iros.2016.7759277","title":"Towards 3-D distributed odor source localization: An extended graph-based formation control algorithm for plume tracking","display_name":"Towards 3-D distributed odor source localization: An extended graph-based formation control algorithm for plume tracking","publication_year":2016,"publication_date":"2016-10-01","ids":{"openalex":"https://openalex.org/W2531896904","doi":"https://doi.org/10.1109/iros.2016.7759277","mag":"2531896904"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2016.7759277","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759277","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://infoscience.epfl.ch/record/220223","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5058212595","display_name":"Jorge M. Soares","orcid":"https://orcid.org/0000-0002-8528-3489"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Jorge M. Soares","raw_affiliation_strings":["Civil and Environmental Engineering, School of Architecture, Lausanne, Switzerland"],"affiliations":[{"raw_affiliation_string":"Civil and Environmental Engineering, School of Architecture, Lausanne, Switzerland","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081623035","display_name":"Ali Marjovi","orcid":"https://orcid.org/0000-0001-9609-2656"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ali Marjovi","raw_affiliation_strings":["Civil and Environmental Engineering, School of Architecture, Lausanne, Switzerland"],"affiliations":[{"raw_affiliation_string":"Civil and Environmental Engineering, School of Architecture, Lausanne, Switzerland","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076719464","display_name":"Jonathan Giezendanner","orcid":"https://orcid.org/0000-0001-8809-8513"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jonathan Giezendanner","raw_affiliation_strings":["Civil and Environmental Engineering, School of Architecture, Lausanne, Switzerland"],"affiliations":[{"raw_affiliation_string":"Civil and Environmental Engineering, School of Architecture, Lausanne, Switzerland","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072658200","display_name":"Anil Kodiyan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Anil Kodiyan","raw_affiliation_strings":["Civil and Environmental Engineering, School of Architecture, Lausanne, Switzerland"],"affiliations":[{"raw_affiliation_string":"Civil and Environmental Engineering, School of Architecture, Lausanne, Switzerland","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069883451","display_name":"A. Pedro Aguiar","orcid":"https://orcid.org/0000-0001-7105-0505"},"institutions":[{"id":"https://openalex.org/I182534213","display_name":"Universidade do Porto","ror":"https://ror.org/043pwc612","country_code":"PT","type":"education","lineage":["https://openalex.org/I182534213"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"A. Pedro Aguiar","raw_affiliation_strings":["Faculty of Engineering, University of Porto, Porto, Portugal"],"affiliations":[{"raw_affiliation_string":"Faculty of Engineering, University of Porto, Porto, Portugal","institution_ids":["https://openalex.org/I182534213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042146195","display_name":"A. Pascoal","orcid":"https://orcid.org/0000-0002-0657-6671"},"institutions":[{"id":"https://openalex.org/I141596103","display_name":"University of Lisbon","ror":"https://ror.org/01c27hj86","country_code":"PT","type":"education","lineage":["https://openalex.org/I141596103"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Antonio M. Pascoal","raw_affiliation_strings":["Laboratory of Robotics and Engineering Systems, University of Lisbon, Lisboa, Portugal"],"affiliations":[{"raw_affiliation_string":"Laboratory of Robotics and Engineering Systems, University of Lisbon, Lisboa, Portugal","institution_ids":["https://openalex.org/I141596103"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5080713076","display_name":"Alcherio Martinoli","orcid":"https://orcid.org/0000-0002-5201-7862"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Alcherio Martinoli","raw_affiliation_strings":["Civil and Environmental Engineering, School of Architecture, Lausanne, Switzerland"],"affiliations":[{"raw_affiliation_string":"Civil and Environmental Engineering, School of Architecture, Lausanne, Switzerland","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5058212595"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":6.1681,"has_fulltext":false,"cited_by_count":24,"citation_normalized_percentile":{"value":0.95839794,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1729","last_page":"1736"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12321","display_name":"Insect Pheromone Research and Control","score":1.0,"subfield":{"id":"https://openalex.org/subfields/1109","display_name":"Insect Science"},"field":{"id":"https://openalex.org/fields/11","display_name":"Agricultural and Biological Sciences"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},"topics":[{"id":"https://openalex.org/T12321","display_name":"Insect Pheromone Research and Control","score":1.0,"subfield":{"id":"https://openalex.org/subfields/1109","display_name":"Insect Science"},"field":{"id":"https://openalex.org/fields/11","display_name":"Agricultural and Biological Sciences"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10423","display_name":"Neurobiology and Insect Physiology Research","score":0.9842000007629395,"subfield":{"id":"https://openalex.org/subfields/2804","display_name":"Cellular and Molecular Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T11667","display_name":"Advanced Chemical Sensor Technologies","score":0.982200026512146,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/plume","display_name":"Plume","score":0.8523182272911072},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.6847037076950073},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6480364203453064},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.6033616065979004},{"id":"https://openalex.org/keywords/tracing","display_name":"Tracing","score":0.5863503217697144},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5471729636192322},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5035097002983093},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.4550009071826935},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3422473073005676},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3374531865119934},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.33638450503349304},{"id":"https://openalex.org/keywords/meteorology","display_name":"Meteorology","score":0.14714467525482178},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.1080491840839386},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1062353253364563}],"concepts":[{"id":"https://openalex.org/C2775840915","wikidata":"https://www.wikidata.org/wiki/Q3817528","display_name":"Plume","level":2,"score":0.8523182272911072},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.6847037076950073},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6480364203453064},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.6033616065979004},{"id":"https://openalex.org/C138673069","wikidata":"https://www.wikidata.org/wiki/Q322229","display_name":"Tracing","level":2,"score":0.5863503217697144},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5471729636192322},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5035097002983093},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.4550009071826935},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3422473073005676},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3374531865119934},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.33638450503349304},{"id":"https://openalex.org/C153294291","wikidata":"https://www.wikidata.org/wiki/Q25261","display_name":"Meteorology","level":1,"score":0.14714467525482178},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.1080491840839386},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1062353253364563},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2016.7759277","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759277","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:infoscience.epfl.ch:220223","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/220223","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"}],"best_oa_location":{"id":"pmh:oai:infoscience.epfl.ch:220223","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/220223","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},"sustainable_development_goals":[{"display_name":"Affordable and clean energy","score":0.7900000214576721,"id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":46,"referenced_works":["https://openalex.org/W587004554","https://openalex.org/W613360614","https://openalex.org/W966207424","https://openalex.org/W1563941487","https://openalex.org/W1580491690","https://openalex.org/W1590195310","https://openalex.org/W1604743448","https://openalex.org/W1843605003","https://openalex.org/W1865938125","https://openalex.org/W1929171560","https://openalex.org/W1966552721","https://openalex.org/W1974274407","https://openalex.org/W1975955840","https://openalex.org/W2014824949","https://openalex.org/W2016863073","https://openalex.org/W2046695302","https://openalex.org/W2054289671","https://openalex.org/W2062044314","https://openalex.org/W2084797864","https://openalex.org/W2087711455","https://openalex.org/W2089422736","https://openalex.org/W2091780109","https://openalex.org/W2093352222","https://openalex.org/W2096691402","https://openalex.org/W2096752639","https://openalex.org/W2099604484","https://openalex.org/W2102488189","https://openalex.org/W2114107076","https://openalex.org/W2126976635","https://openalex.org/W2136590517","https://openalex.org/W2139580628","https://openalex.org/W2157439304","https://openalex.org/W2159441143","https://openalex.org/W2160891248","https://openalex.org/W2164980846","https://openalex.org/W2168087188","https://openalex.org/W2246181674","https://openalex.org/W2398449260","https://openalex.org/W2521183934","https://openalex.org/W2529278114","https://openalex.org/W4285719527","https://openalex.org/W4300182261","https://openalex.org/W6635383689","https://openalex.org/W6638872706","https://openalex.org/W6673029231","https://openalex.org/W6727261462"],"related_works":["https://openalex.org/W2015942778","https://openalex.org/W2026298489","https://openalex.org/W1563829372","https://openalex.org/W4226032835","https://openalex.org/W233199609","https://openalex.org/W2067389099","https://openalex.org/W2897695555","https://openalex.org/W2045980676","https://openalex.org/W2307588283","https://openalex.org/W2068263664"],"abstract_inverted_index":{"The":[0],"large":[1],"number":[2],"of":[3,15,18,24,46,60,117],"potential":[4],"applications":[5],"for":[6,39],"robotic":[7],"odor":[8],"source":[9,76,107,124],"localization":[10],"has":[11],"motivated":[12],"the":[13,22,66,72,75,110,123,132],"development":[14],"a":[16,36,44,102,106,115],"variety":[17],"plume":[19,41,67,84,136],"tracking":[20,42],"algorithms,":[21],"majority":[23],"which":[25],"work":[26],"in":[27,51,68,95,101],"restricted":[28],"two-dimensional":[29],"scenarios.":[30],"In":[31],"this":[32,93],"paper,":[33],"we":[34],"introduce":[35],"distributed":[37,62],"algorithm":[38,56,121],"3-D":[40,69],"using":[43],"system":[45],"ground":[47],"and":[48,70,86,97,134],"aerial":[49],"robots":[50,73,100,118],"formation.":[52],"We":[53,91],"propose":[54],"an":[55],"that":[57,114],"takes":[58],"advantage":[59],"spatially":[61],"measurements":[63],"to":[64,74,109],"track":[65],"lead":[71],"by":[77],"integrating":[78],"three":[79],"behaviors":[80],"-":[81],"upwind":[82],"movement,":[83],"centering,":[85],"Laplacian":[87],"feedback":[88],"formation":[89],"control.":[90],"evaluate":[92],"strategy":[94],"simulation":[96],"with":[98,125],"real":[99],"wind":[103],"tunnel.":[104],"For":[105],"close":[108],"ground,":[111],"results":[112],"show":[113],"team":[116],"running":[119],"our":[120],"reaches":[122],"low":[126],"lateral":[127],"error":[128],"while":[129],"also":[130],"tracing":[131],"horizontal":[133],"vertical":[135],"shape.":[137]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":8},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
