home > Publications > Search

Found 11 publications with these criteria

1. Thomas Lochmatter   [Lochmatter:10]   [published]
   Bio-inspired and probabilistic algorithms for distributed odor source localization using mobile robots    
   PhD thesis EPFL, Spring 2010 (Prof. A. Martinoli)
   
   
   
2. Lochmatter, Thomas; Martinoli, Alcherio   [LochmatterM:09]   [published]
   Theoretical Analysis of Three Bio-Inspired Plume Tracking Algorithms    
   2009 IEEE International Conference on Robotics and Automation (ICRA 2009); Kobe, Japan, May 12-17, 2009
   We derive the theoretical performance of three bio-inspired odor source localization algorithms (casting, surge-spiral and surge-cast) in laminar wind flow. Based on the geometry of the trajectories and the wind direction sensor error, we calculate the distribution of the distance overhead and the mean success rate using Bayes inference. Our approach is related to particle filtering and produces smooth output distributions. The results are compared to existing real-robot and simulation results, and a good match is observed.
   
   
3. Lochmatter, Thomas; Heiniger, Nicolas; Martinoli, Alcherio   [LochmatterHM:09]   [published]
   Localizing an Odor Source and Avoiding Obstacles: Experiments in a Wind Tunnel using Real Robots    
   13th International Symposium on Olfaction and Electronic Nose; Brescia, Italy, April 15-17, 2009, p. 69-72
   We report on real-robot odor source localization experiments carried out in an environment with obstacles in the odor plume. The robot was equipped with an ethanol sensor and a wind direction sensor, and the experiments were carried out in a wind tunnel, i.e. in a controlled environment. An enhanced version of the surge-spiral algorithm was used, which was augmented with a dedicate behavior to manage obstacles (avoid them, or follow their contour). We compare the results in terms of distance overhead and success rate, and discuss the impact of obstacles on plume traversal.
   
   
4. Lochmatter, Thomas; Martinoli, Alcherio   [LochmatterM:08b]   [published]
   Simulation Experiments with Bio-Inspired Algorithms for Odor Source Localization in Laminar Wind Flow    
   Seventh International Conference on Machine Learning and Applications (ICMLA 2008); San Diego, CA, USA, December 11-13, 2008
   We compare three bio-inspired odor source localization algorithm (casting, surge-spiral and surge-cast) for environments with a main wind flow in simulation. The wind flow is laminar and the simulation setup similar to the setup in the wind tunnel in which we have carried out similar experiments with real robots. The algorithms are compared in terms of success rate and distance overhead when tracking the plume up to the source. We conclude that the algorithms based on upwind surge yield significantly better performance than pure casting.
   
   
5. Lochmatter, Thomas; Martinoli, Alcherio   [LochmatterM:08]   [published]
   Understanding the Potential Impact of Multiple Robots in Odor Source Localization    
   9th Symposium on Distributed Autonomous Robotic Systems (DARS 2008); Tsukuba, Japan, November 17-19, 2008
   
   
   
6. Lochmatter, Thomas; Roduit, Pierre; Cianci, Chris; Correll, Nikolaus; Jacot, Jacques; Martinoli, Alcherio   [LochmatterRCCJM:08]   [published]
   SwisTrack - A Flexible Open Source Tracking Software for Multi-Agent Systems    
   IEEE/RSJ 2008 International Conference on Intelligent Robots and Systems (IROS 2008); Nice, France, September 22-26, 2008, p. 4004-4010
   Vision-based tracking is used in nearly all robotic laboratories for monitoring and extracting of agent positions, orientations, and trajectories. However, there is currently no accepted standard software solution available, so many research groups resort to developing and using their own custom software. In this paper, we present Version 4 of SwisTrack, an open source project for simultaneous tracking of multiple agents. While its broad range of pre- implemented algorithmic components allows it to be used in a variety of experimental applications, its novelty stands in its highly modular architecture. Advanced users can therefore also implement additional customized modules which extend the functionality of the existing components within the provided interface. This paper introduces SwisTrack and shows experiments with both marked and marker-less agents.
   
   
7. Lochmatter, Thomas; Martinoli, Alcherio   [LochmatterM:08]   [published]
   Tracking Odor Plumes in a Laminar Wind Field with Bio-Inspired Algorithms    
   11th International Symposium on Experimental Robotics 2008 (ISER 2008); Athens, Greece, July 14-17, 2008, vol. 54, p. 473-482
   We introduce a novel bio-inspired odor source localization algorithm (surge- cast) for environments with a main wind ?ow and compare it to two well-known algorithms. With all three algorithms, systematic experiments with real robots are carried out in a wind tunnel under laminar ?ow conditions. The algorithms are compared in terms of distance overhead when tracking the plume up to the source, but a variety of other experimental results and some theoretical considerations are provided as well. We conclude that the surge-cast algorithm yields signi?cantly better performance than the casting algorithm, and slightly better performance than the surge-spiral algorithm.
   
   
8. Lochmatter, Thomas; Raemy, Xavier; Matthey, Loïc; Indra, Saurabh; Martinoli, Alcherio   [LochmatterRMIM:08]   [published]
   A Comparison of Casting and Spiraling Algorithms for Odor Source Localization in Laminar Flow    
   2008 IEEE International Conference on Robotics and Automation; Pasadena, California, May 19-23, 2008, p. 1138-1143
   We compare two well-known algorithms for locating odor sources in environments with a main wind flow. Their plume tracking performance is tested through systematic experiments with real robots in a wind tunnel under laminar flow condition. We present the system setup and show the wind and odor profiles. The results are then compared in terms of time and distance to reach the source, as well as speed in upwind direction. We conclude that the spiral- surge algorithm yields significantly better results than the casting algorithm, and discuss possible rationales behind this performance difference.
   
   
9. Cianci, Christopher M.; Lochmatter, Thomas; Pugh, Jim; Martinoli, Alcherio   [CianciLPM:07]   [published]
   Toward Multi-Level Modeling of Robotic Sensor Networks: A Case Study in Acoustic Event Monitoring    
   International Conference on Robot Communication and Coordination (ROBOCOMM); Athens, Greece, October 15-17, 2007, p. 1-8
   Modeling and simulation can be powerful tools for analyzing multi-agent systems, such as networked robotic systems and sensor networks. In this paper, it is shown concretely how instances of both these elements fit into a general methodology for multi-level modeling, providing insight into system dynamics. Use of the resulting general framework is illustrated through application to a specific sample case study involving a robotic wireless sensor network engaged in an acoustic detection task. We then compare and contrast the resulting family of models, highlighting explicitly the trade-off between realism and simplicity.
   
   
10. Lochmatter, Thomas; Raemy, Xavier; Martinoli, Alcherio   [LochmatterRM:07b]   [published]
    Geruchslokalisation mit mobilen Robotern    
    IT Business, num. 1 (2007), p. 40-41
    Hunde werden aufgrund ihrer exzellenten Nase oft zur Suche von Minen, Bomben, Drogen oder verschütteten Menschen eingesetzt. Mit elektronischen Geruchssensoren könnten für solche Anwendungen bald auch mobile Roboter zum Einsatz kommen. Neben guten Geruchssensoren und passenden Robotern sind aber auch entsprechende Suchalgorithmen notwendig - und die komplexe Ausbreitung von Rauch und Duftmolekülen in der Luft macht die Suche nach Geruchsquellen zu einer grossen Herausforderung. [pdf]
    
    
11. Lochmatter, Thomas; Raemy, Xavier; Martinoli, Alcherio   [LochmatterRM:07]   [published]
    Odor Source Localization with Mobile Robots    
    Bulletin of the Swiss Society for Automatic Control, num. 46 (2007), p. 11-14
    Because of their excellent olfactory sense, dogs are often used to find bombs, mines, drugs, or people buried by avalanches. For such applications, autonomous mobile robots could be used in the future. Electronic sensors already exist for a wide variety of substances, and are still being actively researched. Mobile robots are an important area of research, too. But beyond a good sensor and a suitable robotic platform, a third component is required: odor source localization algorithms – and due to the complex propagation of odor molecules in the air, tracking down odor sources is still a big challenge. [pdf]