相关论文: Moth-inspired navigation algorithm in a turbulent …
Estimating the distance of a gas source is important in many applications of chemical sensing, like e.g. environmental monitoring, or chemically-guided robot navigation. If an estimation of the gas concentration at the source is available,…
In marine plankton, many swimming species can perceive their environment with flow sensors. Can they use this flow information to travel faster in turbulence? To address this question, we consider plankters swimming at constant speed, whose…
The problem of locating an odor source in turbulent flows is central to key applications such as environmental monitoring and disaster response. We address this challenge by designing an algorithm based on Bayesian inference, which uses…
Benefitting from UAVs' characteristics of flexible deployment and controllable movement in 3D space, odor source localization with multiple UAVs has been a hot research area in recent years. Considering the limited resources and…
Aerial operation in turbulent environments is a challenging problem due to the chaotic behavior of the flow. This problem is made even more complex when a team of aerial robots is trying to achieve coordinated motion in turbulent wind…
We address the problem of inferring the location of a target that releases odor in the presence of turbulence. Input for the inference is provided by many sensors scattered within the odor plume. Drawing inspiration from distributed…
The paper presents an approach to olfactory search for a diffusive emitting source of tracer (e.g. aerosol, gas) in an environment with unknown map of randomly placed and shaped obstacles. The measurements of tracer concentration are…
As environmental disasters happen more frequently and severely, seeking the source of pollutants or harmful particulates using plume tracking becomes even more important. Plume tracking on small quadrotors would allow these systems to…
In this paper, we examine the coupling between odor dynamics and vortex dynamics around undulating bodies, with a focus on bio-inspired propulsion mechanisms. Utilizing computational fluid dynamics (CFD) simulations with an in-house…
Living systems continually respond to signals from the surrounding environment. Survival requires that their responses adapt quickly and robustly to the changes in the environment. One particularly challenging example is olfactory…
This thesis presents a solution that enables aerial robots to reason about surrounding wind flow fields in real time using on board sensors and embedded flight hardware. The core novelty of this research is the fusion of range measurements…
Identifying the location and characteristics of pollution sources in turbulent flows is challenging, especially for environmental monitoring and emergency response, due to sparse, stochastic, and infrequent cue detection. Even in idealized…
This study presents a novel spatially disrupted flow control system inspired by the covert feathers on bird wings. The system is a passive flow control system consisting of multiple feather-inspired flaps that dynamically interact with the…
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…
Many aquatic organisms are able to track ambient flow disturbances and locate their source. These tasks are particularly challenging because they require the organism to sense local flow information and respond accordingly. Details of how…
Stability of flapping flight, a natural requirement for flying insects, is one of the major challenges for designing micro aerial vehicles (MAVs). To better understand how a flying insect could stabilize itself during hover, we have…
Understanding the interplay between hydrodynamics and chemical sensing in aquatic environments is crucial for unraveling biological swimmers' navigation, foraging, and communication strategies. This study investigates the role of kinematics…
Crayfish are nocturnal animals that mainly rely on their chemoreceptors to locate food. On a crayfish scale chemical stimuli received from a distant source are dispersed by an ambient flow rather than molecular diffusion. When the flow is…
Estimating the direction of ambient fluid flow is key for many flying or swimming animals and robots, but can only be accomplished through indirect measurements and active control. Recent work with tethered flying insects indicates that…
Smart active particles can acquire some limited knowledge of the fluid environment from simple mechanical cues and exert a control on their preferred steering direction. Their goal is to learn the best way to navigate by exploiting the…