Effectiveness and Robustness of Robot Infotaxis for Searching in Dilute Conditions

Tracking scents and locating odor sources is a major challenge in robotics. The odor plume is not a continuous cloud but consists of intermittent odor patches dispersed by the wind. Far from the source, the probability of encountering one of these patches vanishes. In such dilute conditions, a good strategy is to first ‘explore’ the environment and gather information, then ‘exploit’ current knowledge and direct toward the estimated source location. Infotactic navigation has been recently proposed to strike the balance between exploration and exploitation. Infotaxis was tested in simulation and produced trajectories similar to those observed in the flight of moths attracted by a sexual pheromone. In this paper, we assess the performance of infotaxis in dilute conditions by combining robotic experiments and simulations. Our results indicate that infotaxis is both effective (seven detections on average were sufficient to reach the source) and robust (the source is found in presence of inaccurate modeling by the searcher). The biomimetic characteristic of infotaxis is also preserved when searching with a robot in a real environment

A Model of Stimulus-Specific Neural Assemblies in the Insect Antennal Lobe

It has been proposed that synchronized neural assemblies in the antennal lobe of insects encode the identity of olfactory stimuli. In response to an odor, some projection neurons exhibit synchronous firing, phase-locked to the oscillations of the field potential, whereas others do not. Experimental data indicate that neural synchronization and field oscillations are induced by fast GABAA-type inhibition, but it remains unclear how desynchronization occurs. We hypothesize that slow inhibition plays a key role in desynchronizing projection neurons. Because synaptic noise is believed to be the dominant factor that limits neuronal reliability, we consider a computational model of the antennal lobe in which a population of oscillatory neurons interact through unreliable GABAA and GABAB inhibitory synapses. From theoretical analysis and extensive computer simulations, we show that transmission failures at slow GABAB synapses make the neural response unpredictable. Depending on the balance between GABAA and GABAB inputs, particular neurons may either synchronize or desynchronize. These findings suggest a wiring scheme that triggers stimulus-specific synchronized assemblies. Inhibitory connections are set by Hebbian learning and selectively activated by stimulus patterns to form a spiking associative memory whose storage capacity is comparable to that of classical binary-coded models. We conclude that fast inhibition acts in concert with slow inhibition to reformat the glomerular input into odor-specific synchronized neural assemblies

A compact multi-chip-module implementation of a multi-precision neural network classifier

This paper describes a novel MCM digital implementation of a reconfigurable multi-precision neural network classifier. The design is based on a scalable systolic architecture with a user defined topology and arithmetic precision of the neural network. Indeed, the MCM integrates 64/32/16 neurons with a corresponding accuracy of 4/8/16-bits. A prototype has been designed and successfully tested in CMOS 0.7 μm technolog