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Paper FrC11.2

Lochmatter, Thomas (EPFL), Martinoli, Alcherio (EPFL)

Theoretical Analysis of Three Bio-Inspired Plume Tracking Algorithms

Scheduled for presentation during the Regular Sessions "Biologically-Inspired Robots - III" (FrC11), Friday, May 15, 2009, 13:50−14:10, Room: 503

2009 IEEE International Conference on Robotics and Automation, May 12 - 17, 2009, Kobe, Japan

This information is tentative and subject to change. Compiled on January 24, 2022

Keywords Biologically-Inspired Robots, Localization, Demining Systems

Abstract

We derive the theoretical performance of three bio-inspired odor source localization algorithms (casting, surge-spiral and surge-cast) in laminar wind flow. Based on the geometry of the trajectories and the wind direction sensor error, we calculate the distribution of the distance overhead and the mean success rate using Bayes inference. Our approach is related to particle filtering and produces smooth output distributions. The results are compared to existing real-robot and simulation results, and a good match is observed.

 

 

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