Silkwarm
Bee
Dog
Ant
- Cooperative foraging
Robots with noses why...?
- Night - Lighting condition.
- Sense - chemically interactive.
1. Territory marking and avoiding
2. Search and Rescue
Urban disaster, Wilderness search
3. Chemical Plumes
Plume movement ~~ Odur dispersion
sensitive, selective, fast response (Gas sensor)
Fast ->
Sampling -> Sensor -> Data Analysis with feedback and adaptation
Chemosensor MOS, Ion mobility...
Anemometer
Wind vanes -> vane that aligns with the wind
Search problem
- finding the odour sources
how to sample the environment in order to reach
3 sub problems
- sampling the space....ㅎㅎ
Sample -> Plume detect-> Track ->Source detected -> Declare
Sampling the space
Sequential search
Regular trajectories
Distance among trajectories considers the probability of detection
While uncertainty > threshold do
1. Evaluate set of actions
2. Move to best sampling point
3. Sense
4. Update
2007. Cognitive approaches infotaxis POMDP
meta-heuristic approaches for odour search
Q memory 줄이기 가능하냐? Interaction gradient source. Advantage in oflactory sensing in application
A : Realize infect in reality, gradient approach. Swarm do detect source... sensing all the space.. combine the agent gradient? Relatie....뭐라 카노
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