TY - CONF A1 - Neumann, Patrick P. A1 - Bennetts, V.H. A1 - Lilienthal, A.J. A1 - Bartholmai, Matthias T1 - From insects to micro air vehicles - a comparison of reactive plume tracking strategies T2 - Intelligent autonomous systems 13 - Proceedings of the 13th international conference IAS-13 N2 - Insect behavior is a common source of inspiration for roboticists and computer scientists when designing gas-sensitive mobile robots. More specifically, tracking airborne odor plumes, and localization of distant gas sources are abilities that suit practical applications such as leak localization and emission monitoring. Gas sensing with mobile robots has been mostly addressed with ground-based platforms and under simplified conditions and thus, there exist a significant gap between the outstanding insect abilities and state-of-the-art robotics systems. As a step toward practical applications, we evaluated the performance of three biologically inspired plume tracking algorithms. The evaluation is carried out not only with computer simulations, but also with real-world experiments in which, a quadrocopter-based micro Unmanned Aerial Vehicle autonomously follows a methane trail toward the emitting source. Compared to ground robots, micro UAVs bring several advantages such as their superior steering capabilities and fewer mobility restrictions in complex terrains. The experimental evaluation shows that, under certain environmental conditions, insect like behavior in gas-sensitive UAVs is feasible in real-world environments. PB - Springer Verlag CY - Berlin, Germany T2 - IAS13 - 13th International conference on intelligent autonomous systems CY - Padova, Italy DA - 2014-07-15 KW - Autonomous micro UAV KW - Mobile robot olfaction KW - Gas source localization KW - Reactive plume tracking KW - Biologically inspired robots PY - 2016 UR - https://opus4.kobv.de/opus4-bam/frontdoor/index/index/docId/31526 AN - OPUS4-31526 SN - 978-3-319-08338-4; 978-3-319-08337-7 SN - 2194-5357 SP - 1533 EP - 1548 AD - Bundesanstalt fuer Materialforschung und -pruefung (BAM), Berlin, Germany