Related papers: Olfactory pursuit: catching a moving odor source i…
Infotaxis is a popular search algorithm designed to track a source of odor in a turbulent environment using information provided by odor detections. To exemplify its capabilities, the source-tracking task was framed as a partially…
Olfactory search in turbulent environments is a sensorimotor challenge solved with remarkable efficiency by many animals, yet replicating this ability in artificial systems remains difficult because detections are intermittent and wind…
The task of olfactory search is ubiquitous in nature and in technology, from animals in the quest of food or of a mating partner, to robots searching for the source of hazardous fumes in a chemical plant. Here, we focus on the algorithmic…
Locating the source of odor in a turbulent environment - a common behavior for living organisms - is non-trivial because of the random nature of mixing. Here we analyze the statistical physics aspects of the problem and propose an efficient…
The olfactory search POMDP (partially observable Markov decision process) is a sequential decision-making problem designed to mimic the task faced by insects searching for a source of odor in turbulence, and its solutions have applications…
Animal behavior and neural recordings show that the brain is able to measure both the intensity of an odor and the timing of odor encounters. However, whether intensity or timing of odor detections is more informative for olfactory-driven…
In many practical scenarios, a flying insect must search for the source of an emitted cue which is advected by the atmospheric wind. On the macroscopic scales of interest, turbulence tends to mix the cue into patches of relatively high…
The problem of tracking the source of a passive scalar in a turbulent flow is relevant to flying insect behavior and several other applications. Extensive previous work has shown that certain Bayesian strategies, such as "infotaxis," can be…
Finding the distant source of an odor dispersed by a turbulent flow is a vital task for many organisms, either for foraging or for mating purposes. At the level of individual search, animals like moths have developed effective strategies to…
Run-and-tumble chemotaxis is one of the representative search strategies of an odor source via sensing its spatial gradient. The optimal ways of sensing and control in the run-and-tumble chemotaxis have been analyzed theoretically to…
We consider the problem of olfactory searches in a turbulent environment. We focus on agents that respond solely to odor stimuli, with no access to spatial perception nor prior information about the odor. We ask whether navigation to a…
Autonomous odor source localization remains a challenging problem for aerial robots due to turbulent airflow, sparse and delayed sensory signals, and strict payload and compute constraints. While prior unmanned aerial vehicle (UAV)-based…
In turbulent flows, tracking the source of a passive scalar cue requires exploiting the limited information that can be gleaned from rare, stochastic encounters with the cue. When crafting a search policy, the most challenging and important…
This paper addresses the problem of both actively searching and tracking multiple unknown dynamic objects in a known environment with multiple cooperative autonomous agents with partial observability. The tracking of a target ends when the…
Studies of insect olfactory processing indicate that odors are represented by rich spatio-temporal patterns of neural activity. These patterns are very difficult to predict a priori, yet they are stimulus specific and reliable upon repeated…
Animals use stereo sampling of odor concentration to localize sources and follow odor trails. We analyze the dynamics of a bilateral model that depends on the simultaneous comparison between odor concentrations detected by left and right…
In olfactory search an immobile target emits chemical molecules at constant rate. The molecules are transported by the medium which is assumed to be turbulent. Considering a searcher able to detect such chemical signals and whose motion…
Olfaction sensing in autonomous robotics faces challenges in dynamic operations, energy efficiency, and edge processing. It necessitates a machine learning algorithm capable of managing real-world odor interference, ensuring resource…
This work targets the problem of odor source localization by multi-agent systems. A hierarchical cooperative control has been put forward to solve the problem of locating source of an odor by driving the agents in consensus when at least…
We address the problem where a mobile search agent seeks to find an unknown number of stationary objects distributed in a bounded search domain, and the search mission is subject to time/distance constraint. Our work accounts for false…