Practical Validation of Autonomous Source Localization with Ground Robots

A source localization experiment with a group of ground robots is presented in this paper. The process implemented on the robots is shown together with its building blocks which include methods from robotics and control. The results of the experiments show that the source localization is successful in the presented environment. The workings of the process are explained and an implication about the performance in dependence on the number of robots used is given. A way to use measurements from the mapping phase for source localization is presented which speeds up the localization process and the effect of the tuning parameters is investigated.