An adaptive switching behavior between levy and Brownian random search in a mobile robot based on biological fluctuation

Nurzaman, Surya G.; Matsumoto, Yoshio; Nakamura, Yutaka; Shirai, Kazumichi; Koizumi, Satoshi; Ishiguro, Hiroshi

doi:10.1109/iros.2010.5651671

Cited by 21 publications

(14 citation statements)

References 23 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Following our approach, one may then try to extract a fractional diffusion equation for a long-range correlated Lévy walk. In terms of more general applications, we note that an intermittent switching between Lévy and Brownian search may be advantageous to optimize the random search of a mobile robot for adapting efficiently under changing target density [40].…”

Section: Discussionmentioning

confidence: 99%

Fractional diffusion equation for ann-dimensional correlated Lévy walk

et al. 2016

View full text Add to dashboard Cite

Lévy walks define a fundamental concept in random walk theory that allows one to model diffusive spreading faster than Brownian motion. They have many applications across different disciplines. However, so far the derivation of a diffusion equation for an n-dimensional correlated Lévy walk remained elusive. Starting from a fractional Klein-Kramers equation here we use a moment method combined with a Cattaneo approximation to derive a fractional diffusion equation for superdiffusive short-range auto-correlated Lévy walks in the large time limit, and we solve it. Our derivation discloses different dynamical mechanisms leading to correlated Lévy walk diffusion in terms of quantities that can be measured experimentally.

show abstract

Section: Discussionmentioning

confidence: 99%

Fractional diffusion equation for ann-dimensional correlated Lévy walk

et al. 2016

View full text Add to dashboard Cite

show abstract

“…It chooses new regions to explore blindly. The random walker has no any tendency to move toward regions that it has not occupied before; it has absolutely no inkling of the past and lastly,its track does not fill up the space uniformly [5,4]. A Brownian walk plotted in our simulator tool is depicted in Figure 1a.…”

Section: Random Searchesmentioning

confidence: 99%

“…Several studies suggest that Brownian walks and Lévy walks are commonly used models to fit animal movement [1,2,3,4,5], these strategies represent the standard methods for exploring a given area where there is not available information about where targets are located; a target may be an abstraction from any particular object that must be collected by a random walker (in this study we will refer a random walker as a robotic agent).…”

Section: Introductionmentioning

confidence: 99%

“…A fast searching with reduced perceptual capabilities and some degree of uncertainty is commonly seen on exploration tasks that are carried on by mobile robots or synthetic agents [4,6]. In addition, the major aim is to maximize the chance of finding as many targets as possible.…”

Section: Introductionmentioning

confidence: 99%

“…Random walks have become a necessary tool for exploration tasks in robotics field, where researches try to mimic strategies based on animal behavior to face search uncertainties and environmental changes [4]. Plank and Codling [7] argue that "Lévy walks can be optimal strategies for searching randomly located targets in complex environments [2,3].…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

A Composite Random Walk for Facing Environmental Uncertainty and Reduced Perceptual Capabilities

Piña-García

2011

Intelligent Robotics and Applications

View full text Add to dashboard Cite

Abstract. Theoretical and empirical studies in Biology have showed that strategies based on different random walks, such as: Brownian random walk and Lévy random walk are the best option when there is some degree of environmental uncertainty and there is a lack of perceptual capabilities.When a random walker has no information about where targets are located, different systematic or random searches may provide different chances to find them. However, when time consumption, energy cost and malfunction risks are determinants, an adaptive search strategy becomes necessary in order to improve the performance of the strategy. Thus, we can use a practical methodology to combine a systematic search with a random search through a biological fluctuation.We demonstrate that, in certain environments it is possible to combine a systematic search with a random search to optimally cover a given area. Besides, this work improves the search performance in comparison with pure random walks such as Brownian walk and Lévy walk. We show these theoretical results using computer simulations.

show abstract

Sampling Emerging Social Behavior in Facebook Using Random Walk Models

Piña-García

2013

Intelligent Systems Reference Library

View full text Add to dashboard Cite

An adaptive switching behavior between levy and Brownian random search in a mobile robot based on biological fluctuation

Cited by 21 publications

References 23 publications

Fractional diffusion equation for ann-dimensional correlated Lévy walk

Fractional diffusion equation for ann-dimensional correlated Lévy walk

A Composite Random Walk for Facing Environmental Uncertainty and Reduced Perceptual Capabilities

Sampling Emerging Social Behavior in Facebook Using Random Walk Models

Contact Info

Product

Resources

About