Source Localization Robots

Motivation: It is difficult to find the exact odor source position. That's why we learn it!

Material: We use some robots here

Progress: Some of the research findings have already been submitted, published, and presented in international conferences, and journals

Odor Source Localization in Low Computational Controller Micro Quadrotor (presented at ISRITI AKAKOM)

This paper proposes a new approach for odor source localization using a low computational controller in the micro quadcopter. Searching for an odor source is an engineering problem, it can be a simple task if a high-computational controller is implemented. However, in reality, a micro quadcopter has a major constraint: the payload limitation where the high-computational controller can be out of the option. In this case, a low computational controller is employed to complement the searching requirement. In this research, the searching algorithm based on bio-inspired behavior of the silkmoth and noise reduction based on the Savitzky-Golay filter is employed. The odor source localization in the micro quadcopter shows a satisfactory result where the test is validated through experimental validation.

Design and Experimental Evaluation of an Odor Sensing Method for a Pocket-Sized Quadcopter [J2]

Description: In this study, we design and verify an intake system using the wake of a pocket-sized quadcopter for the chemical plume tracing (CPT) problem. Solving CPT represents an essential technique in engineering because it can be used to perform rescue operations during a disaster and identify sources of harmful substances. An appropriate air intake when sensing odors plays an essential role in performing CPT. Hence, we used the airflow generated by a quadcopter itself to intake chemical particles into two alcohol sensors. By experimental evaluation, we verified that the quadcopter wake intake method has good directivity and can be used to realize CPT. Concretely, even at various odor source heights, the quadcopter had a three-dimensional CPT success rate of at least 70%. These results imply that, although further development of three-dimensional CPT is necessary in order to conduct it in unknown and cluttered environments, the intake method proposed in this paper enables a pocket-sized quadcopter to perform three-dimensional CPT.

(video credits to:

Animal-in-the-loop system to investigate adaptive behavior [J1]

Description: In this research, we aim to model an adaptive behavior of an animal and implement it in an autonomous robot. The conventional bio-inspired algorithm is difficult to demonstrate the ability as much as the animal because it models without considering the dynamic characteristics of the robot. Therefore, in this study, we constructed an animal-in-the-loop system, which is a novel experimental system for identifying the adaptive behavior of the animal in a form that considers the dynamic characteristics of the robot to be implemented.

(video credits to: