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  4. A Comparison of Casting and Spiraling Algorithms for Odor Source Localization in Laminar Flow
 
conference paper

A Comparison of Casting and Spiraling Algorithms for Odor Source Localization in Laminar Flow

Lochmatter, Thomas  
•
Raemy, Xavier
•
Matthey, Loïc
Show more
2008
Proceedings of the 2008 IEEE International Conference on Robotics and Automation (ICRA 2008)
2008 IEEE International Conference on Robotics and Automation

We compare two well-known algorithms for locating odor sources in environments with a main wind flow. Their plume tracking performance is tested through systematic experiments with real robots in a wind tunnel under laminar flow condition. We present the system setup and show the wind and odor profiles. The results are then compared in terms of time and distance to reach the source, as well as speed in upwind direction. We conclude that the spiral- surge algorithm yields significantly better results than the casting algorithm, and discuss possible rationales behind this performance difference.

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Type
conference paper
DOI
10.1109/ROBOT.2008.4543357
Web of Science ID

WOS:000258095000180

Author(s)
Lochmatter, Thomas  
Raemy, Xavier
Matthey, Loïc
Indra, Saurabh
Martinoli, Alcherio  
Date Issued

2008

Published in
Proceedings of the 2008 IEEE International Conference on Robotics and Automation (ICRA 2008)
Start page

1138

End page

1143

Subjects

Odor source localization

•

Plume tracking

•

Robotics

•

Khepera III

•

NCCR-MICS

•

NCCR-MICS/CL2

Note

NCCR-MICS NCCR-MICS/CL2

URL

URL

http://www.icra2008.org/
Editorial or Peer reviewed

REVIEWED

Written at

EPFL

EPFL units
DISAL  
Event nameEvent placeEvent date
2008 IEEE International Conference on Robotics and Automation

Pasadena, California

May 19-23, 2008

Available on Infoscience
February 9, 2008
Use this identifier to reference this record
https://infoscience.epfl.ch/handle/20.500.14299/17588
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