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Paper WeA310.1

Daltorio, Kathryn A (Case Western Reserve University), Tietz, Brian R. (Case Western Reserve University), Bender, John A. (Case Western Reserve University), Webster, Victoria A. (Case Western Reserve University), Szczecinski, Nicholas S. (Case Western Reserve University), Branicky, Michael (Case Western Reserve University), Ritzmann, Roy Earl (Case Western Reserve University), Quinn, Roger, D. (Case Western Reserve University)

A Stochastic Algorithm for Explorative Goal Seeking Extracted from Cockroach Walking Data

Scheduled for presentation during the Interactive Session "Interactive Session WeA-3" (WeA310), Wednesday, May 16, 2012, 09:30−10:00, Ballroom D

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on November 18, 2017

Keywords Biomimetics, Biologically-Inspired Robots, Autonomous Navigation

Abstract

Cockroach shelter-seeking strategy may look like an undirected random search, but we show that they are attracted to darkened shelters, arriving at a shelter in about half the time it would otherwise take. We were able to identify four statistically significant trends from the behavior of 134 cockroaches in one-minute na´ve walking trials with four different arena configurations. By combining these trends into a model, we arrive at an algorithm that significantly directs a simulated agent to a location. This algorithm was then adapted and tested on a small mobile robot equipped with an onboard camera and antenna-like contact sensors.

 

 

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