A stochastic algorithm for explorative goal seeking extracted from cockroach walking data

Cockroach shelter-seeking strategy may look like an undirected random search, but we show that they are attracted to darkened shelters, arriving at a shelter in about half the time it would otherwise take. We were able to identify four statistically significant trends from the behavior of 134 cockro...

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Bibliographic Details
Main Authors: Daltorio, K. A., Tietz, B. R., Bender, J. A., Webster, V. A., Szczecinski, N. S., Branicky, M. S., Ritzmann, R. E., Quinn, R. D.
Format: Conference Proceeding
Language:English
Subjects:
Cameras
Insects
Legged locomotion
Sensors
Stochastic processes
Online Access:Request full text
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Summary:Cockroach shelter-seeking strategy may look like an undirected random search, but we show that they are attracted to darkened shelters, arriving at a shelter in about half the time it would otherwise take. We were able to identify four statistically significant trends from the behavior of 134 cockroaches in one-minute naïve walking trials with four different arena configurations. By combining these trends into a model, we arrive at an algorithm that significantly directs a simulated agent to a location. This algorithm was then adapted and tested on a small mobile robot equipped with an onboard camera and antenna-like contact sensors.
ISSN:1050-4729
2577-087X
DOI:10.1109/ICRA.2012.6225020