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Theoretical Analysis of Three Bio-Inspired Plume Tracking Algorithms

  • Authors: Lochmatter, Thomas; Martinoli, Alcherio

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.

Posted on: March 16, 2009

Tracking Odor Plumes in a Laminar Wind Field with Bio-Inspired Algorithms

  • Authors: Lochmatter, Thomas; Martinoli, Alcherio

We introduce a novel bio-inspired odor source localization algorithm (surge- cast) for environments with a main wind flow and compare it to two well-known algorithms. With all three algorithms, systematic experiments with real robots are carried out in a wind tunnel under laminar flow conditions. The algorithms are compared in terms of distance overhead when tracking the plume up to the source, but a variety of other experimental results and some theoretical considerations are provided as well. We conclude that the surge-cast algorithm yields significantly better performance than the casting algorithm, and slightly better performance than the surge-spiral algorithm.

Posted on: May 29, 2008