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  4. Theoretical Analysis of Three Bio-Inspired Plume Tracking Algorithms
 
conference paper

Theoretical Analysis of Three Bio-Inspired Plume Tracking Algorithms

Lochmatter, Thomas  
•
Martinoli, Alcherio  
2009
Proceedings of the 2009 IEEE International Conference on Robotics and Automation (ICRA 2009)
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.

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Type
conference paper
DOI
10.1109/ROBOT.2009.5152686
Author(s)
Lochmatter, Thomas  
Martinoli, Alcherio  
Date Issued

2009

Published in
Proceedings of the 2009 IEEE International Conference on Robotics and Automation (ICRA 2009)
Subjects

odor source localization

•

mobile robots

•

histogram filter

•

bio-inspired

•

NCCR-MICS

•

NCCR-MICS/CL2

URL

URL

http://www.icra2009.org/
Editorial or Peer reviewed

REVIEWED

Written at

EPFL

EPFL units
DISAL  
Event nameEvent placeEvent date
2009 IEEE International Conference on Robotics and Automation (ICRA 2009)

Kobe, Japan

May 12-17, 2009

Available on Infoscience
March 16, 2009
Use this identifier to reference this record
https://infoscience.epfl.ch/handle/20.500.14299/35998
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