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ICRA
2008
IEEE

A comparison of casting and spiraling algorithms for odor source localization in laminar flow

9 years 4 months ago
A comparison of casting and spiraling algorithms for odor source localization in laminar flow
Abstract— 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.
Thomas Lochmatter, Xavier Raemy, Loïc Matthey
Added 30 May 2010
Updated 30 May 2010
Type Conference
Year 2008
Where ICRA
Authors Thomas Lochmatter, Xavier Raemy, Loïc Matthey, Saurabh Indra, Alcherio Martinoli
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