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ICRA
2009
IEEE

Theoretical analysis of three bio-inspired plume tracking algorithms

13 years 10 months ago
Theoretical analysis of three bio-inspired plume tracking algorithms
— We derive the theoretical performance of three bio-inspired odor source localization algorithms (casting, surgespiral 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.
Thomas Lochmatter, Alcherio Martinoli
Added 23 May 2010
Updated 23 May 2010
Type Conference
Year 2009
Where ICRA
Authors Thomas Lochmatter, Alcherio Martinoli
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