Biologically inspired chemical plume tracing on an autonomous underwater vehicle

Farrell, Jay A.; Pang, Shuo; Li, Wei; Arrieta, Richard

doi:10.1109/icsmc.2004.1401337

Cited by 16 publications

(15 citation statements)

References 19 publications

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“…This is true for both studies involving reactive [8] , [26] and cognitive strategies [31] , [32] , as well as for gradient based underwater chemo-orientation using a biomimetic robot lobster [33] . Another example for such studies is biologically-inspired chemical plume tracing using an autonomous underwater vehicle [23] , [24] , [34] . Moreover, the interplay between robotics and insects offers the possibility to investigate the insect's behavior [8] , [35] – [37] while specifically modifying the experimental conditions.…”

Section: Introductionmentioning

confidence: 99%

Reactive Searching and Infotaxis in Odor Source Localization

et al. 2014

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Male moths aiming to locate pheromone-releasing females rely on stimulus-adapted search maneuvers complicated by a discontinuous distribution of pheromone patches. They alternate sequences of upwind surge when perceiving the pheromone and cross- or downwind casting when the odor is lost. We compare four search strategies: three reactive versus one cognitive. The former consist of pre-programmed movement sequences triggered by pheromone detections while the latter uses Bayesian inference to build spatial probability maps. Based on the analysis of triphasic responses of antennal lobe neurons (On, inhibition, Off), we propose three reactive strategies. One combines upwind surge (representing the On response to a pheromone detection) and spiral casting, only. The other two additionally include crosswind (zigzag) casting representing the Off phase. As cognitive strategy we use the infotaxis algorithm which was developed for searching in a turbulent medium. Detection events in the electroantennogram of a moth attached to a robot indirectly control this cyborg, depending on the strategy in use. The recorded trajectories are analyzed with regard to success rates, efficiency, and other features. In addition, we qualitatively compare our robotic trajectories to behavioral search paths. Reactive searching is more efficient (yielding shorter trajectories) for higher pheromone doses whereas cognitive searching works better for lower doses. With respect to our experimental conditions (2 m from starting position to pheromone source), reactive searching with crosswind zigzag yields the shortest trajectories (for comparable success rates). Assuming that the neuronal Off response represents a short-term memory, zigzagging is an efficient movement to relocate a recently lost pheromone plume. Accordingly, such reactive strategies offer an interesting alternative to complex cognitive searching.

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Section: Introductionmentioning

confidence: 99%

Reactive Searching and Infotaxis in Odor Source Localization

et al. 2014

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“…Related bio-inspired work includes [16], [17], where the authors propose a surge-cast algorithm in which robots switch between moving at a small offset angle to up-flow and a plume reacquisition maneuver. The approach was tested in experiments with the REMUS AUV [18].…”

Section: Related Workmentioning

confidence: 99%

“…The approach was tested in experiments with the REMUS AUV [18]. Although tangential to our work, REMUS has also been used for chemical mapping [19].…”

Section: Related Workmentioning

confidence: 99%

An algorithm for formation-based chemical plume tracing using robotic marine vehicles

Soares

Aguiar

Pascoal

et al. 2016

OCEANS 2016 MTS/IEEE Monterey

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Abstract-Robotic chemical plume tracing is a growing area of research, with envisioned real-world applications including pollution tracking, search and rescue, and ecosystem identification. However, following a chemical signal in the water is not an easy task due to the nature of chemical transport and to limitations in sensing and communication. In this paper, we propose an approach for near-surface waterborne plume tracing using a combined team of autonomous surface and underwater vehicles. All vehicles are equipped with appropriate chemical sensors and acoustic modems. The team moves in a triangular formation, while using the flow direction and the samples obtained to steer the group along the plume. Leader vehicles at the surface implement a formation controller based on Laplacian feedback while the underwater vehicle performs acoustic ranging to the leaders. The solution was evaluated using a CFD simulation of a freshwater plume and a calibrated dynamic model of the MEDUSA autonomous marine vehicles. The group is able to move in a stable formation, sample the salinity, and trace the plume to its source.

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“…The task of tracing a chemical plume may be broken down into the following subtasks (Farrell et al , 2004): Plume finding . This subtask involves the searching of a large area to detect the plume for the first time.…”

Section: Main Approachesmentioning

confidence: 99%

Chemical Plume Tracing and Odour Source Localisation by Autonomous Vehicles

2007

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Autonomous vehicles with an ability to trace chemical plumes can be instrumental in tasks such as detection of unexploded ordnance, search for undersea wreckage and environmental monitoring. As a consequence, use of autonomous vehicles to perform chemical plume tracing has received an increasing interest from the research community in recent years. Owing to the diversity of applications and ambient fluid environment of the plumes, there are numerous plume tracing strategies and approaches. This paper reviews two main approaches and a number of strategies that have been successfully implemented to track air or water borne plumes in order to locate odour sources using autonomous vehicles. The first strategy considered is the biomimetic approach that offers excellent models for the development of robotic systems. Strategies inspired by lobsters and bacterium are the main focus in this study. The second scheme considers parallelization of the search procedure by employing a multi-robot approach. This approach has the advantage of utilising a group of smaller and simpler communicating robots which are capable of performing a collaborative search of the plume.

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Biologically inspired chemical plume tracing on an autonomous underwater vehicle

Cited by 16 publications

References 19 publications

Reactive Searching and Infotaxis in Odor Source Localization

Reactive Searching and Infotaxis in Odor Source Localization

An algorithm for formation-based chemical plume tracing using robotic marine vehicles

Chemical Plume Tracing and Odour Source Localisation by Autonomous Vehicles

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