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

  • Authors: Lochmatter, Thomas; Raemy, Xavier; Matthey, Loïc; Indra, Saurabh; Martinoli, Alcherio

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.

Posted on: February 9, 2008

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