TY - GEN
T1 - Robotic electrolocation
T2 - 2007 IEEE International Conference on Robotics and Automation, ICRA'07
AU - Solberg, James R.
AU - Lynch, Kevin M.
AU - MacIver, Malcolm A.
PY - 2007
Y1 - 2007
N2 - We explore the capabilities of a robot designed to locate objects underwater through active movement of an electric field emitter and sensor apparatus. The robot is inspired by the biological phenomenon of active electrolocation, a sensing strategy found in two groups of freshwater fishes known to emit weak electric fields for target localization and communication. We characterize the performance of the robot using several types of automatic electrolocation controllers, objects, and water conditions. We demonstrate successful electrolocation both in the conditions in which it is naturally observed, in low conductivity water, as well as in conditions in which it is not observed, in water of ocean salinity. The belief of the position of the target is maintained via a particle filter and refined with each measurement.
AB - We explore the capabilities of a robot designed to locate objects underwater through active movement of an electric field emitter and sensor apparatus. The robot is inspired by the biological phenomenon of active electrolocation, a sensing strategy found in two groups of freshwater fishes known to emit weak electric fields for target localization and communication. We characterize the performance of the robot using several types of automatic electrolocation controllers, objects, and water conditions. We demonstrate successful electrolocation both in the conditions in which it is naturally observed, in low conductivity water, as well as in conditions in which it is not observed, in water of ocean salinity. The belief of the position of the target is maintained via a particle filter and refined with each measurement.
UR - http://www.scopus.com/inward/record.url?scp=36348964840&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=36348964840&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2007.364231
DO - 10.1109/ROBOT.2007.364231
M3 - Conference contribution
AN - SCOPUS:36348964840
SN - 1424406021
SN - 9781424406029
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 4879
EP - 4886
BT - 2007 IEEE International Conference on Robotics and Automation, ICRA'07
Y2 - 10 April 2007 through 14 April 2007
ER -