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Simulation Experiments with Bio-Inspired Algorithms for Odor Source Localization in Laminar Wind Flow

Publications associées (34)

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Information-Driven Gas Distribution Mapping for Autonomous Mobile Robots

Alcherio Martinoli, Chiara Ercolani, Faezeh Rahbar

The ability to sense airborne pollutants with mobile robots provides a valuable asset for domains such as industrial safety and environmental monitoring. Oftentimes, this involves detecting how certain gases are spread out in the environment, commonly refe ...

MDPI2023

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

Underwater soft robot modeling and control with differentiable simulation

Josephine Anna Eleanor Hughes

Underwater soft robots are challenging to model and control because of their high degrees of freedom and their intricate coupling with water. In this letter, we present a method that leverages the recent development in differentiable simulation coupled wit ...

Institute of Electrical and Electronics Engineers Inc.2021

Particle Source Localization with a Low-Cost Robotic Sensor System: Algorithmic Design and Performance Evaluation

Alcherio Martinoli, Ali Marjovi, Xinxing Chen, Jian Huang

In this paper we tackle the problem of finding the source of particulate matter with a mobile robot equipped with a low-cost multi-channel optical particle counting sensor. The proposed method is based on the Infotaxis odor source localization algorithm an ...

2020

Design and Performance Evaluation of an Algorithm Based on Source Term Estimation for Odor Source Localization

Alcherio Martinoli, Ali Marjovi, Faezeh Rahbar

Finding sources of airborne chemicals with mobile sensing systems finds applications across safety, security, environmental monitoring, and medical domains. In this paper, we present an algorithm based on Source Term Estimation for odor source localization ...

2019

Large-Eddy Simulations of the Steady Wintertime Antarctic Boundary Layer

Etienne Gabriel Henri Vignon

Observations of two typical contrasting weakly stable and very stable boundary layers from the winter at Dome C station, Antarctica, are used as a benchmark for two centimetre-scale-resolution large-eddy simulations. By taking the Antarctic winter, the eff ...

2019

Is the Thorpe and Mason model valid for drifting and blowing snow?

Varun Sharma, Michael Lehning, Francesco Comola

Sublimation of drifting and blowing snow has been recognized as an important component of the surface mass budget of polar and alpine regions. The Thorpe and Mason (TM) model is the basis of all existing small and largescale estimates of drifting snow sub ...

Copernicus2018

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One of the main issues with the acceptance of robotic tools in schools is the extracurricular aspect of the learning activities using these robots. In the Cellulo project, we developed a novel robotic platform that aims to provide a ubiquitous, versatile a ...

ACM2017

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Finding the source of gaseous compounds released in the air with robots finds several applications in various critical situations, such as search and rescue. While the distribution of gas in the air is inherently a 3D phenomenon, most of the previous works ...

2017

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The wind-driven redistribution of snow has a significant impact on the climate and mass balance of polar and mountainous regions. Locally, it shapes the snow surface, producing dunes and sastrugi. Sediment transport has been mainly represented as a functio ...

Amer Geophysical Union2016