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A Graph-Based Formation Algorithm for Odor Plume Tracing

Related publications (33)

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Exact Obstacle Avoidance for Robots in Complex and Dynamic Environments Using Local Modulation

Lukas Huber

Robots outside of the fenced factories have to deal with continuously changing environment, this requires fast and flexible modes of control. Planning methods or complex learning models can find optimal paths in complex surroundings, but they are computati ...

EPFL2024

Hybrid Flock - Formation Control Algorithms

Alcherio Martinoli, Cyrill Silvan Baumann, Jonas Perolini, Emna Tourki

Two prominent categories for achieving coordinated multirobot displacement are flocking and navigation in formation. Both categories have their own body of literature and characteristics, including their respective advantages and disadvantages. While typic ...

2022

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Propulsion of swimming robots at the surface and underwater is largely dominated by rotary propellers due to high thrust, but at the cost of low efficiency. Due to their inherently high speed turning motion, sharp propeller blades and generated noise, they ...

IOP PUBLISHING LTD2020

Towards Agility: Definition, Benchmark and Design Considerations for Small, Quadrupedal Robots

Peter Eckert

Agile quadrupedal locomotion in animals and robots is yet to be fully understood, quantified or achieved. An intuitive notion of agility exists, but neither a concise definition nor a common benchmark can be found. Further, it is unclear, what minimal leve ...

EPFL2018

A Benchmark Comparison of Monocular Visual-Inertial Odometry Algorithms for Flying Robots

Davide Scaramuzza

Flying robots require a combination of accuracy and low latency in their state estimation in order to achieve stable and robust flight. However, due to the power and payload constraints of aerial platforms, state estimation algorithms must provide these qu ...

2018

Boosting olfactory cocktail-party performance by semi-supervised learning in mice

Alexander Mathis, Matthias Bethge

Mice are excellent at detecting single odor components in complex mixtures. Yet, when they are trained on single odors alone, they fail to reliably detect target odors in mixtures of multiple odorants. This inability was predicted by a linear readout that ...

2017

This book is open access under a CC BY 4.0 license. This book bridges the gap between playing with robots in school and studying robotics at the upper undergraduate and graduate levels to prepare for careers in industry and research. Robotic algorithms are ...

Springer2017

Odor plume tracing is a challenging robotics application, made difficult by the combination of the patchy characteristics of odor distribution and the slow response of the available sensors. This work proposes a graph-based formation control algorithm to c ...

Springer Japan2016

This thesis tackles the problem of robotic odour source localisation, that is, the use of robots to find the source of a chemical release. As the odour travels away from the source, in the form of a plume carried by the wind or current, small scale turbule ...

EPFL2016

In this paper, we propose a novel architecture to estimate external forces applied to a compliantly controlled balancing robot in simulations. We use similar dynamics equations used in the controller to find mismatches in the available sensory data and ass ...

Ieee2016