Considering the constraint of limited communication among robots, a method of localizing odor sources using
multiple robots based on particle swarm optimization is presented on the condition of abstracting each robot as a particle.
Firstly, a strategy incorporating with a repulsive function is utilized to guide a robot to rapidly search for a plume. Then
the range of communication among robots is estimated based on the log-distance loss model of wireless signal propagation
to form a dynamic topology structure of a particle swarm and to determine the global optimum of particles. Finally, the
sampling/recovery time of a sensor is incorporated to update a particle so as to trace the plume. The proposed method is
applied to localize odor sources in three various scenarios and the experimental results show its effectiveness.