{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/sniffy-bug-a-fully-autonomous-swarm-of-gas","title":"Sniffy Bug: A Fully Autonomous Swarm of Gas-Seeking Nano Quadcopters in Cluttered Environments","arxiv_id":"2107.05490","date":"2021-07-12","proceeding":null,"authors":["Bardienus P. Duisterhof","Shushuai Li","Javier Burgués","Vijay Janapa Reddi","Guido C. H. E. de Croon"],"abstract":"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. In this work, 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 an unknown, cluttered and GPS-denied environments. The computationally efficient, mapless algorithm foresees in the avoidance of obstacles and other swarm members, while pursuing desired waypoints. The waypoints are first set for exploration, and, when a single swarm member has sensed the gas, by a particle swarm optimization-based procedure. We evolve all the parameters of the bug (and PSO) algorithm, using our novel simulation pipeline, `AutoGDM'. It builds on and expands open source tools in order to enable fully automated end-to-end environment generation and gas dispersion modeling, allowing for learning in simulation. Flight tests show that Sniffy Bug with evolved parameters outperforms manually selected parameters in cluttered, real-world environments.","url_abs":"https://arxiv.org/abs/2107.05490v1","url_pdf":"https://arxiv.org/pdf/2107.05490v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"links_only","authors_date_abstract":"arXiv metadata, CC0 1.0 (https://info.arxiv.org/help/license), from the Kaggle arXiv metadata snapshot of 2026-09-12"},"code_links":[{"paper_slug":"sniffy-bug-a-fully-autonomous-swarm-of-gas","repo_url":"https://github.com/tudelft/AutoGDM","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"none","reach":null},{"paper_slug":"sniffy-bug-a-fully-autonomous-swarm-of-gas","repo_url":"https://github.com/tudelft/sniffy-bug","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"none","reach":null}],"tasks":[],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"syntology_url":null,"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}