Biologically inspired adaptive mobile robot search with and without gradient sensing

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

doi:10.1109/IROS.2009.5353998

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 proceeding › Conference Paper › Other

30 Citations (Scopus)

Abstract

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 language	English
Title of host publication	2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Pages	142-147
Number of pages	6
DOIs	https://doi.org/10.1109/IROS.2009.5353998
Publication status	Published - 11 Dec 2009
Externally published	Yes
Event	IEEE/RSJ International Conference on Intelligent Robots and Systems 2009 - St. Louis, United States of America Duration: 11 Oct 2009 → 15 Oct 2009 https://ieeexplore.ieee.org/xpl/conhome/5342790/proceeding (Proceedings)

Conference

Conference	IEEE/RSJ International Conference on Intelligent Robots and Systems 2009
Abbreviated title	IROS 2009
Country/Territory	United States of America
City	St. Louis
Period	11/10/09 → 15/10/09
Internet address	https://ieeexplore.ieee.org/xpl/conhome/5342790/proceeding (Proceedings)

Access to Document

10.1109/IROS.2009.5353998

Cite this

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abstract = "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.",

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Nurzaman, SG, Matsumoto, Y, Nakamura, Y, Koizumi, S & Ishiguro, H 2009, Biologically inspired adaptive mobile robot search with and without gradient sensing. in 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009. pp. 142-147, IEEE/RSJ International Conference on Intelligent Robots and Systems 2009, St. Louis, Missouri, United States of America, 11/10/09. https://doi.org/10.1109/IROS.2009.5353998

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AU - Ishiguro, Hiroshi

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AB - 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.

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Biologically inspired adaptive mobile robot search with and without gradient sensing

Abstract

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