A Chemosensory Navigation Model Inspired by the On/Off Neural Processing Mechanism in Cockroaches

Cockroaches orient towards and track plumes of airborne odours using simple yet sophisticated processing of odour concentration stimuli. Their orientation behaviour is driven not only by instantaneous sampling of odour concentration but by temporal dynamics of the odour signal which are processed by...

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Bibliographic Details
Published in:IEEE transactions on medical robotics and bionics 2020-08, Vol.2 (3), p.338-346
Main Authors: Pequeno-Zurro, Alejandro, Rano, Inaki, Shaikh, Danish
Format: Article
Language:English
Subjects:
Algorithms
Cockroaches
Computer simulation
Couplings
Gaussian distribution
Hidden Markov models
Intelligent robots
Mathematical models
Normal distribution
Odors
Optimization
Parameters
Robot sensing systems
Sensory perception
Signal processing
Vehicle dynamics
Wheels
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Summary:Cockroaches orient towards and track plumes of airborne odours using simple yet sophisticated processing of odour concentration stimuli. Their orientation behaviour is driven not only by instantaneous sampling of odour concentration but by temporal dynamics of the odour signal which are processed by specialised On/Off olfactory receptor neurons encoding rate of change of odour concentration. We present a neurorobotic model for chemotaxis that implements such sensory processing. The model consists of a sensorimotor connection embodied in a simulated Braitenberg vehicle with a dynamic sensory processing variant which extends existing functional models, and the model parameters are tuned via an optimisation algorithm. Simulation results demonstrate that the vehicle with the contribution of temporal dynamics and optimised parameters is able to localise the odour source in both a simplified odour plume characterised by a steady state Gaussian distribution of odour concentration and a realistic odour plume based on filament-based gas dispersion modelling.
ISSN:2576-3202
2576-3202
DOI:10.1109/TMRB.2020.3007948