conference paper
Theoretical Analysis of Three Bio-Inspired Plume Tracking Algorithms
2009
Proceedings of the 2009 IEEE International Conference on Robotics and Automation (ICRA 2009)
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.
Type
conference paper
Author(s)
Date Issued
2009
Published in
Proceedings of the 2009 IEEE International Conference on Robotics and Automation (ICRA 2009)
URL
Editorial or Peer reviewed
REVIEWED
Written at
EPFL
EPFL units
| Event name | Event place | Event date |
Kobe, Japan | May 12-17, 2009 | |
Available on Infoscience
March 16, 2009
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