相关论文: Olfactory search
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…
Robots are man made machines which are used to accomplish the tasks. Robots are mainly used to do complex tasks and work in hazardous environment where humans are difficult to work. They are not only designed to use in hazardous environment…
In this paper we study a variety of novel online algorithm problems inspired by the game Mousehunt. We consider a number of basic models that approximate the game, and we provide solutions to these models using Markov Decision Processes,…
The olfactory system of male moths is exquisitely sensitive to pheromones emitted by females and transported in the environment by atmospheric turbulence. Moths respond to minute amounts of pheromones and their behavior is sensitive to the…
This paper presents the behaviour control of a service robot for intelligent object search in a domestic environment. A major challenge in service robotics is to enable fetch-and-carry missions that are satisfying for the user in terms of…
It is well known that options can make planning more efficient, among their many benefits. Thus far, algorithms for autonomously discovering a set of useful options were heuristic. Naturally, a principled way of finding a set of useful…
This paper investigates manipulation of multiple unknown objects in a crowded environment. Because of incomplete knowledge due to unknown objects and occlusions in visual observations, object observations are imperfect and action success is…
Search processes in the natural world are often punctuated by home returns that reset the position of foraging animals, birds, and insects. Many theoretical, numerical, and experimental studies have now demonstrated that this strategy can…
This paper is concerned with a class of algorithms that perform exhaustive search on propositional knowledge bases. We show that each of these algorithms defines and generates a propositional language. Specifically, we show that the trace…
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…
We propose a novel method for multi-objective motion planning problems by leveraging the paradigm of lexicographic optimization and applying it for the first time to graph search over probabilistic roadmaps. The competing resources of…
We consider an agent seeking to obtain an item, potentially available at different locations in a physical environment. The traveling costs between locations are known in advance, but there is only probabilistic knowledge regarding the…
Surveillance and exploration of large environments is a tedious task. In spaces with limited environmental cues, random-like search is an effective approach as it allows the robot to perform online coverage of environments using simple…
The field of numerical optimization has recently seen a surge in the development of "novel" metaheuristic algorithms, inspired by metaphors derived from natural or human-made processes, which have been widely criticized for obscuring…
Evolution Strategies are inspired in biology and part of a larger research field known as Evolutionary Algorithms. Those strategies perform a random search in the space of admissible functions, aiming to optimize some given objective…
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…
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…
There is much interest in using partially observable Markov decision processes (POMDPs) as a formal model for planning in stochastic domains. This paper is concerned with finding optimal policies for POMDPs. We propose several improvements…
In natural foraging, many organisms seem to perform two different types of motile search: directed search (taxis) and random search. The former is observed when the environment provides cues to guide motion towards a target. The latter…
The information available to robots in real tasks is widely distributed both in time and space, requiring the agent to search for relevant data. In humans, that face the same problem when sounds, images and smells are presented to their…