Here is a fully autonomous swarm of gas-seeking nano quadcopters that can operate in cluttered environments. They use a bio-inspired bug algorithm (Sniffy Bug) to get it done. As MAVLab TU Delft researchers explain, lightweight Crazyflie drones were used for this experiment.
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Sniffy Bug: A Fully Autonomous Swarm of Gas-Seeking Nano Quadcopters in Cluttered Environments
These drones can avoid obstacles, explore their environment and detect gas. They coordinate to localize the source.
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