Biologically inspired adaptive mobile robot search with and without gradient sensing

Surya G. Nurzaman, Yoshio Matsumoto, Yutaka Nakamura, Satoshi Koizumi, Hiroshi Ishiguro

Research output: Chapter in Book/Report/Conference proceedingConference PaperOther

30 Citations (Scopus)


Many biologically inspired approaches have been investigated in relation with researches on mobile robot(s) that can effectively locate targets that induce gradient information. Here, we concentrate on realizing an adaptive searching behavior in mobile robot that is simple, yet effective with and without sensing the gradient information. We are interested in two searching behaviors found in biological creatures: bacterial chemotaxis, probably the simplest yet effective gradient sources searching behavior found in living creatures; and Levy walk, specialized random walks with fractal movement trajectories that optimize random search for sparsely and randomly distributed target(s). Our approach is to implement and combine the two searching behaviors based on "yuragi", a Japanese word for biological fluctuation.

Original languageEnglish
Title of host publication2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Number of pages6
Publication statusPublished - 11 Dec 2009
Externally publishedYes
EventIEEE/RSJ International Conference on Intelligent Robots and Systems 2009 - St. Louis, United States of America
Duration: 11 Oct 200915 Oct 2009 (Proceedings)


ConferenceIEEE/RSJ International Conference on Intelligent Robots and Systems 2009
Abbreviated titleIROS 2009
Country/TerritoryUnited States of America
CitySt. Louis
Internet address

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