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Using robots for exploration of extreme and hazardous environments has thepotential to significantly improve human safety. For example, robotic solutionscan be deployed to find the source of a chemical leakage and clean thecontaminated area. This paper demonstrates a proof-of-concept bio-inspiredexploration method using a swarm robotic system, which is based on acombination of two bio-inspired behaviours: aggregation, and pheromonetracking. The main idea of the work presented is to follow pheromone trails tofind the source of a chemical leakage and then carry out a decontamination taskby aggregating at the critical zone. Using experiments conducted by a simulatedmodel of a Mona robot, we evaluate the effects of population size and robotspeed on the ability of the swarm in a decontamination task. The resultsindicate the feasibility of deploying robotic swarms in an exploration andcleaning task in an extreme environment.

Cooperative Pollution Source Localization and Cleanup with a Bio-inspired Swarm Robot Aggregation