Analysis of an Extended Model of Bio-Inspired Source Seeking

A. Pequeno-Zurro, D. Shaikh, I. Rano

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review


Braitenberg vehicles are widely known models of sensor-driven source seeking behavior in animals, known in biology as taxes. While the original vehicles are reactive and move according to the instantaneously perceived stimulus, experiments have found that animals also exploit temporal changes in the stimulus for source seeking. For instance, cockroaches rely on the temporal changes in the odour concentration to perform odour localisation, which has proven a highly challenging task for robots. In this paper, we present a new mathematical model, the dynamic Braitenberg vehicle, that incorporates the temporal rate of change of the stimulus in the source seeking behavior. Our theoretical analysis of the model stability shows that including a term dependent on the temporal evolution of the stimulus significantly improves the behaviour of the closed-loop system compared to its reactive counterpart. The paper illustrates the validity of the new model and the theoretical results of the stability analysis through a set of simulations. Our proposed dynamic vehicle represents a more accurate model of animal behavior and has the potential to improve the performance of mobile robots in challenging tasks like chemical source localisation.

Original languageEnglish
Title of host publication2021 European Control Conference (ECC)
Publication date2021
ISBN (Electronic)9789463842365
Publication statusPublished - 2021
Event2021 European Control Conference, ECC 2021 - Delft, Netherlands
Duration: 29. Jun 20212. Jul 2021


Conference2021 European Control Conference, ECC 2021


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