Moth-inspired navigation algorithm in a turbulent odor plume from a pulsating source

Active smelling in the American cockroach

Motion plays an essential role in sensory acquisition. From changing the position in which information can be acquired to fine-scale probing and active sensing, animals actively control the way they interact with the environment. In olfaction, movement impacts the time and location of odour sampling as well as the flow of odour molecules around the olfactory organs. Employing a detailed spatiotemporal analysis, we investigated how insect antennae interact with the olfactory environment in a species with a well-studied olfactory system - the American cockroach. Cockroaches were tested in a wind-tunnel setup during the presentation of odours with different attractivity levels: colony extract, butanol and linalool. Our analysis revealed significant changes in antennal kinematics when odours were presented, including a shift towards the stream position, an increase in vertical movement and high-frequency local oscillations. Nevertheless, the antennal shifting occurred predominantly in a single antenna while the overall range covered by both antennae was maintained throughout. These findings hold true for both static and moving stimuli and were more pronounced for attractive odours. Furthermore, we found that upon odour encounter, there was an increase in the occurrence of high-frequency antennal sweeps and vertical strokes, which were shown to impact the olfactory environment's statistics directly. Our study lays out a tractable system for exploring the tight coupling between sensing and movement, in which antennal sweeps, in parallel to mammalian sniffing, are actively involved in facilitating odour capture and transport, generating odour intermittency in environments with low air movement where cockroaches dwell.

An Agent-Based Model of Biting Midge Dynamics to Understand Bluetongue Outbreaks

Bluetongue (BT) is a well-known vector-borne disease that infects ruminants such as sheep, cattle, and deer with high mortality rates. Recent outbreaks in Europe highlight the importance of understanding vector-host dynamics and potential courses of action to mitigate the damage that can be done by BT. We present an agent-based model, entitled 'MidgePy', that focuses on the movement of individual Culicoides spp. biting midges and their interactions with ruminants to understand their role as vectors in BT outbreaks, especially in regions that do not regularly experience outbreaks. The results of our sensitivity analysis suggest that midge survival rate has a significant impact on the probability of a BTV outbreak as well as its severity. Using midge flight activity as a proxy for temperature, we found that an increase in environmental temperature corresponded with an increased probability of outbreak after identifying parameter regions where outbreaks are more likely to occur. This suggests that future methods to control BT spread could combine large-scale vaccination programs with biting midge population control measures such as the use of pesticides. Spatial heterogeneity in the environment is also explored to give insight on optimal farm layouts to reduce the potential for BT outbreaks.

Navigation Along Windborne Plumes of Pheromone and Resource-Linked Odors

Many insects locate resources such as a mate, a host, or food by flying upwind along the odor plumes that these resources emit to their source. A windborne plume has a turbulent structure comprised of odor filaments interspersed with clean air. As it propagates downwind, the plume becomes more dispersed and dilute, but filaments with concentrations above the threshold required to elicit a behavioral response from receiving organisms can persist for long distances. Flying insects orient along plumes by steering upwind, triggered by the optomotor reaction. Sequential measurements of differences in odor concentration are unreliable indicators of distance to or direction of the odor source. Plume intermittency and the plume's fine-scale structure can play a role in setting an insect's upwind course. The prowess of insects in navigating to odor sources has spawned bioinspired virtual models and even odor-seeking robots, although some of these approaches use mechanisms that are unnecessarily complex and probably exceed an insect's processing capabilities.

Moth Mating: Modeling Female Pheromone Calling and Male Navigational Strategies to Optimize Reproductive Success

Male and female moths communicate in complex ways to search for and to select a mate. In a process termed calling, females emit small quantities of pheromones, generating plumes that spread in the environment. Males detect the plume through their antennae and navigate toward the female. The reproductive process is marked by female choice and male–male competition, since multiple males aim to reach the female but only the first can mate with her. This provides an opportunity for female selection on male traits such as chemosensitivity to pheromone molecules and mobility. We develop a mathematical framework to investigate the overall mating likelihood, the mean first arrival time, and the quality of the first male to reach the female for four experimentally observed female calling strategies unfolding over a typical one-week mating period. We present both analytical solutions of a simplified model as well as results from agent-based numerical simulations. Our findings suggest that, by adjusting call times and the amount of released pheromone, females can optimize the mating process. In particular, shorter calling times and lower pheromone titers at onset of the mating period that gradually increase over time allow females to aim for higher-quality males while still ensuring that mating occurs by the end of the mating period.

A Study of Modified Infotaxis Algorithms in 2D and 3D Turbulent Environments

Emergency response to hazardous gases in the environment is an important research field in environmental monitoring. In recent years, with the rapid development of sensor technology and mobile device technology, more autonomous search algorithms for hazardous gas emission sources are proposed in uncertain environment, which can avoid emergency personnel from contacting hazardous gas in a short distance. Infotaxis is an autonomous search strategy without a concentration gradient, which uses scattered sensor data to track the location of the release source in turbulent environment. This paper optimizes the imbalance of exploitation and exploration in the reward function of Infotaxis algorithm and proposes a mobile strategy for the three-dimensional scene. In two-dimensional and three-dimensional scenes, the average steps of search tasks are used as the evaluation criteria to analyze the information trend algorithm combined with different reward functions and mobile strategies. The results show that the balance between the exploitation item and exploration item of the reward function proposed in this paper is better than that of the reward function in the Infotaxis algorithm, no matter in the two-dimensional scenes or in the three-dimensional scenes.

A Comparative Study of Bio-Inspired Odour Source Localisation Strategies from the State-Action Perspective

Locating odour sources with robots is an interesting problem with many important real-world applications. In the past years, the robotics community has adapted several bio-inspired strategies to search for odour sources in a variety of environments. This work studies and compares some of the most common strategies from a behavioural perspective with the aim of knowing: (1) how different are the behaviours exhibited by the strategies for the same perceptual state; and (2) which are the most consensual actions for each perceptual state in each environment. The first step of this analysis consists of clustering the perceptual states, and building histograms of the actions taken for each cluster. In case of (1), a histogram is made for each strategy separately, whereas for (2), a single histogram containing the actions of all strategies is produced for each cluster of states. Finally, statistical hypotheses tests are used to find the statistically significant differences between the behaviours of the strategies in each state. The data used for performing this study was gathered from a purpose-built simulator which accurately simulates the real-world phenomena of odour dispersion and air flow, whilst being sufficiently fast to be employed in learning and evolutionary robotics experiments. This paper also proposes an xml-inspired structure for the generated datasets that are used to store the perceptual information of the robots over the course of the simulations. These datasets may be used in learning experiments to estimate the quality of a candidate solution or for measuring its novelty.