A Novel Distributed Hybrid Cognitive Strategy for Odor Source Location in Turbulent and Sparse Environment

摘要

Precise odor source localization in turbulent and sparse environments plays a vital role in enabling robotic systems for hazardous chemical monitoring and effective disaster response. To address this, we propose Cooperative Gravitational-Rényi Infotaxis (CGRInfotaxis), a distributed decision-optimization framework that combines multi-agent collaboration with hybrid cognitive strategy to improve search efficiency and robustness. The method integrates a gravitational potential field for rapid source convergence and Rényi divergence-based probabilistic exploration to handle sparse detections, dynamically balanced via a regulation factor. Particle filtering optimizes posterior probability estimation to autonomously refine search areas while preserving computational efficiency, alongside a distributed interactive-optimization mechanism for real-time decision updates through agent cooperation. The algorithm's performance is evaluated in scenarios with fixed and randomized odor source locations, as well as with varying numbers of agents. Results demonstrate that CGRInfotaxis achieves a near-100% success rate with high consistency across diverse conditions, outperforming existing methods in stability and adaptability. Increasing the number of agents further enhances search efficiency without compromising reliability. These findings suggest that CGRInfotaxis significantly advances multi-agent odor source localization in turbulent, sparse environments, offering practical utility for real-world applications.