Effectiveness and Robustness of Robot Infotaxis for Searching in Dilute Conditions
Identifieur interne : 000077 ( Pmc/Curation ); précédent : 000076; suivant : 000078Effectiveness and Robustness of Robot Infotaxis for Searching in Dilute Conditions
Auteurs : Eduardo Martin Moraud [France, Pays-Bas] ; Dominique Martinez [France]Source :
- Frontiers in Neurorobotics [ 1662-5218 ] ; 2010.
Abstract
Tracking scents and locating odor sources is a major challenge in robotics. The odor plume is not a continuous cloud but consists of intermittent odor patches dispersed by the wind. Far from the source, the probability of encountering one of these patches vanishes. In such dilute conditions, a good strategy is to first ‘explore’ the environment and gather information, then ‘exploit’ current knowledge and direct toward the estimated source location. Infotactic navigation has been recently proposed to strike the balance between exploration and exploitation. Infotaxis was tested in simulation and produced trajectories similar to those observed in the flight of moths attracted by a sexual pheromone. In this paper, we assess the performance of infotaxis in dilute conditions by combining robotic experiments and simulations. Our results indicate that infotaxis is both effective (seven detections on average were sufficient to reach the source) and robust (the source is found in presence of inaccurate modeling by the searcher). The biomimetic characteristic of infotaxis is also preserved when searching with a robot in a real environment.
Url:
DOI: 10.3389/fnbot.2010.00001
PubMed: 20407611
PubMed Central: 2856589
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<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en">Effectiveness and Robustness of Robot Infotaxis for Searching in Dilute Conditions</title><author><name sortKey="Moraud, Eduardo Martin" sort="Moraud, Eduardo Martin" uniqKey="Moraud E" first="Eduardo Martin" last="Moraud">Eduardo Martin Moraud</name><affiliation wicri:level="1"><nlm:aff id="aff1"><institution>CORTEX Research Team, Laboratoire Lorrain de Recherche en Informatique et ses Applications</institution><country>Nancy, France</country></nlm:aff><country xml:lang="fr">France</country><wicri:regionArea></wicri:regionArea></affiliation><affiliation wicri:level="1"><nlm:aff id="aff2"><institution>Advanced Concepts Team, European Space Research and Technology Centre, European Space Agency</institution><country>Noordwijk, Netherlands</country></nlm:aff><country xml:lang="fr">Pays-Bas</country><wicri:regionArea></wicri:regionArea></affiliation></author><author><name sortKey="Martinez, Dominique" sort="Martinez, Dominique" uniqKey="Martinez D" first="Dominique" last="Martinez">Dominique Martinez</name><affiliation wicri:level="1"><nlm:aff id="aff1"><institution>CORTEX Research Team, Laboratoire Lorrain de Recherche en Informatique et ses Applications</institution><country>Nancy, France</country></nlm:aff><country xml:lang="fr">France</country><wicri:regionArea></wicri:regionArea></affiliation><affiliation wicri:level="1"><nlm:aff id="aff3"><institution>Unité Mixte de Recherche 1272, Physiologie de l'Insecte Signalisation et Communication, Institut National de la Recherche Agronomique</institution><country>Versailles, France</country></nlm:aff><country xml:lang="fr">France</country><wicri:regionArea></wicri:regionArea></affiliation></author></titleStmt><publicationStmt><idno type="wicri:source">PMC</idno><idno type="pmid">20407611</idno><idno type="pmc">2856589</idno><idno type="url">http://www.ncbi.nlm.nih.gov/pmc/articles/PMC2856589</idno><idno type="RBID">PMC:2856589</idno><idno type="doi">10.3389/fnbot.2010.00001</idno><date when="2010">2010</date><idno type="wicri:Area/Pmc/Corpus">000077</idno><idno type="wicri:explorRef" wicri:stream="Pmc" wicri:step="Corpus" wicri:corpus="PMC">000077</idno><idno type="wicri:Area/Pmc/Curation">000077</idno><idno type="wicri:explorRef" wicri:stream="Pmc" wicri:step="Curation">000077</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en" level="a" type="main">Effectiveness and Robustness of Robot Infotaxis for Searching in Dilute Conditions</title><author><name sortKey="Moraud, Eduardo Martin" sort="Moraud, Eduardo Martin" uniqKey="Moraud E" first="Eduardo Martin" last="Moraud">Eduardo Martin Moraud</name><affiliation wicri:level="1"><nlm:aff id="aff1"><institution>CORTEX Research Team, Laboratoire Lorrain de Recherche en Informatique et ses Applications</institution><country>Nancy, France</country></nlm:aff><country xml:lang="fr">France</country><wicri:regionArea></wicri:regionArea></affiliation><affiliation wicri:level="1"><nlm:aff id="aff2"><institution>Advanced Concepts Team, European Space Research and Technology Centre, European Space Agency</institution><country>Noordwijk, Netherlands</country></nlm:aff><country xml:lang="fr">Pays-Bas</country><wicri:regionArea></wicri:regionArea></affiliation></author><author><name sortKey="Martinez, Dominique" sort="Martinez, Dominique" uniqKey="Martinez D" first="Dominique" last="Martinez">Dominique Martinez</name><affiliation wicri:level="1"><nlm:aff id="aff1"><institution>CORTEX Research Team, Laboratoire Lorrain de Recherche en Informatique et ses Applications</institution><country>Nancy, France</country></nlm:aff><country xml:lang="fr">France</country><wicri:regionArea></wicri:regionArea></affiliation><affiliation wicri:level="1"><nlm:aff id="aff3"><institution>Unité Mixte de Recherche 1272, Physiologie de l'Insecte Signalisation et Communication, Institut National de la Recherche Agronomique</institution><country>Versailles, France</country></nlm:aff><country xml:lang="fr">France</country><wicri:regionArea></wicri:regionArea></affiliation></author></analytic><series><title level="j">Frontiers in Neurorobotics</title><idno type="eISSN">1662-5218</idno><imprint><date when="2010">2010</date></imprint></series></biblStruct></sourceDesc></fileDesc><profileDesc><textClass></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en"><p>Tracking scents and locating odor sources is a major challenge in robotics. The odor plume is not a continuous cloud but consists of intermittent odor patches dispersed by the wind. Far from the source, the probability of encountering one of these patches vanishes. In such dilute conditions, a good strategy is to first ‘explore’ the environment and gather information, then ‘exploit’ current knowledge and direct toward the estimated source location. Infotactic navigation has been recently proposed to strike the balance between exploration and exploitation. Infotaxis was tested in simulation and produced trajectories similar to those observed in the flight of moths attracted by a sexual pheromone. In this paper, we assess the performance of infotaxis in dilute conditions by combining robotic experiments and simulations. Our results indicate that infotaxis is both effective (seven detections on average were sufficient to reach the source) and robust (the source is found in presence of inaccurate modeling by the searcher). The biomimetic characteristic of infotaxis is also preserved when searching with a robot in a real environment.</p></div></front><back><div1 type="bibliography"><listBibl><biblStruct><analytic><author><name sortKey="Baker, T" uniqKey="Baker T">T. Baker</name></author><author><name sortKey="Willis, M" uniqKey="Willis M">M. Willis</name></author><author><name sortKey="Haynes, K" uniqKey="Haynes K">K. Haynes</name></author><author><name sortKey="Phelan, P" uniqKey="Phelan P">P. Phelan</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Belanger, J" uniqKey="Belanger J">J. Belanger</name></author><author><name sortKey="Arbas, E" uniqKey="Arbas E">E. Arbas</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Berg, H" uniqKey="Berg H">H. Berg</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Birch, M C" uniqKey="Birch M">M. C. 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<front><journal-meta><journal-id journal-id-type="nlm-ta">Front Neurorobotics</journal-id><journal-id journal-id-type="publisher-id">Front. Neurorobot.</journal-id><journal-title-group><journal-title>Frontiers in Neurorobotics</journal-title></journal-title-group><issn pub-type="epub">1662-5218</issn><publisher><publisher-name>Frontiers Research Foundation</publisher-name></publisher></journal-meta><article-meta><article-id pub-id-type="pmid">20407611</article-id><article-id pub-id-type="pmc">2856589</article-id><article-id pub-id-type="doi">10.3389/fnbot.2010.00001</article-id><article-categories><subj-group subj-group-type="heading"><subject>Neuroscience</subject><subj-group><subject>Original Research</subject></subj-group></subj-group></article-categories><title-group><article-title>Effectiveness and Robustness of Robot Infotaxis for Searching in Dilute Conditions</article-title></title-group><contrib-group><contrib contrib-type="author"><name><surname>Moraud</surname><given-names>Eduardo Martin</given-names></name><xref ref-type="aff" rid="aff1"><sup>1</sup></xref><xref ref-type="aff" rid="aff2"><sup>2</sup></xref></contrib><contrib contrib-type="author"><name><surname>Martinez</surname><given-names>Dominique</given-names></name><xref ref-type="aff" rid="aff1"><sup>1</sup></xref><xref ref-type="aff" rid="aff3"><sup>3</sup></xref><xref ref-type="author-notes" rid="fn001">*</xref></contrib></contrib-group><aff id="aff1"><sup>1</sup><institution>CORTEX Research Team, Laboratoire Lorrain de Recherche en Informatique et ses Applications</institution><country>Nancy, France</country></aff><aff id="aff2"><sup>2</sup><institution>Advanced Concepts Team, European Space Research and Technology Centre, European Space Agency</institution><country>Noordwijk, Netherlands</country></aff><aff id="aff3"><sup>3</sup><institution>Unité Mixte de Recherche 1272, Physiologie de l'Insecte Signalisation et Communication, Institut National de la Recherche Agronomique</institution><country>Versailles, France</country></aff><author-notes><fn fn-type="edited-by"><p>Edited by: Pierre-Yves Oudeyer, Sony Computer Science Laboratory, France</p></fn><fn fn-type="edited-by"><p>Reviewed by: Massimo Vergassola, Institut Pasteur, France; Hong Lei, University of Arizona, USA; Gideon Kowadlo, Monash University, Australia; Marco Mirolli, Istituto di Scienze e Tecnologie della Cognizione, Italy</p></fn><corresp id="fn001">*Correspondence: Dominique Martinez, CORTEX Research Team, Laboratoire Lorrain de Recherche en Informatique et ses Applications, Campus Scientifique, BP 239, 54506 Vandoeuvre-les-Nancy, France. e-mail: <email>dominique.martinez@loria.fr</email></corresp></author-notes><pub-date pub-type="epreprint"><day>04</day><month>1</month><year>2010</year></pub-date><pub-date pub-type="epub"><day>03</day><month>3</month><year>2010</year></pub-date><pub-date pub-type="collection"><year>2010</year></pub-date><volume>4</volume><elocation-id>1</elocation-id><history><date date-type="received"><day>29</day><month>11</month><year>2009</year></date><date date-type="accepted"><day>08</day><month>2</month><year>2010</year></date></history><permissions><copyright-statement>Copyright © 2010 Moraud and Martinez.</copyright-statement><copyright-year>2010</copyright-year><license license-type="open-access" xlink:href="http://www.frontiersin.org/licenseagreement"><license-p>This is an open-access article subject to an exclusive license agreement between the authors and the Frontiers Research Foundation, which permits unrestricted use, distribution, and reproduction in any medium, provided the original authors and source are credited.</license-p></license></permissions><abstract><p>Tracking scents and locating odor sources is a major challenge in robotics. The odor plume is not a continuous cloud but consists of intermittent odor patches dispersed by the wind. Far from the source, the probability of encountering one of these patches vanishes. In such dilute conditions, a good strategy is to first ‘explore’ the environment and gather information, then ‘exploit’ current knowledge and direct toward the estimated source location. Infotactic navigation has been recently proposed to strike the balance between exploration and exploitation. Infotaxis was tested in simulation and produced trajectories similar to those observed in the flight of moths attracted by a sexual pheromone. In this paper, we assess the performance of infotaxis in dilute conditions by combining robotic experiments and simulations. Our results indicate that infotaxis is both effective (seven detections on average were sufficient to reach the source) and robust (the source is found in presence of inaccurate modeling by the searcher). The biomimetic characteristic of infotaxis is also preserved when searching with a robot in a real environment.</p></abstract><kwd-group><kwd>robot</kwd><kwd>infotaxis</kwd><kwd>olfactory search</kwd><kwd>chemical plume</kwd><kwd>artificial ethology</kwd><kwd>insect behavior</kwd></kwd-group><counts><fig-count count="5"></fig-count><table-count count="0"></table-count><equation-count count="9"></equation-count><ref-count count="22"></ref-count><page-count count="8"></page-count><word-count count="5375"></word-count></counts></article-meta></front></pmc></record>Pour manipuler ce document sous Unix (Dilib)
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