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Thomas Lochmatter

Possible papers associated with this exact author name in Arrow. This page groups case-insensitive exact name matches and is not a full identity disambiguation profile.

3 papers

1 author row

ICRA Conference 2009 Conference Paper

Theoretical analysis of three bio-inspired plume tracking algorithms

Thomas Lochmatter
Alcherio Martinoli

We derive the theoretical performance of three bio-inspired odor source localization algorithms (casting, surge-spiral and surge-cast) in laminar wind flow. Based on the geometry of the trajectories and the wind direction sensor error, we calculate the distribution of the distance overhead and the mean success rate using Bayes inference. Our approach is related to particle filtering and produces smooth output distributions. The results are compared to existing real-robot and simulation results, and a good match is observed.

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ICRA Conference 2008 Conference Paper

A comparison of casting and spiraling algorithms for odor source localization in laminar flow

Thomas Lochmatter
Xavier Raemy
Loic Matthey
Saurabh Indra
Alcherio Martinoli

We compare two well-known algorithms for locating odor sources in environments with a main wind flow. Their plume tracking performance is tested through systematic experiments with real robots in a wind tunnel under laminar flow condition. We present the system setup and show the wind and odor profiles. The results are then compared in terms of time and distance to reach the source, as well as speed in upwind direction. We conclude that the spiral-surge algorithm yields significantly better results than the casting algorithm, and discuss possible rationales behind this performance difference.

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IROS Conference 2008 Conference Paper

SwisTrack - a flexible open source tracking software for multi-agent systems

Thomas Lochmatter
Pierre Roduit
Christopher M. Cianci
Nikolaus Correll
Jacques Jacot
Alcherio Martinoli

Vision-based tracking is used in nearly all robotic laboratories for monitoring and extracting of agent positions, orientations, and trajectories. However, there is currently no accepted standard software solution available, so many research groups resort to developing and using their own custom software. In this paper, we present Version 4 of SwisTrack, an open source project for simultaneous tracking of multiple agents. While its broad range of pre-implemented algorithmic components allows it to be used in a variety of experimental applications, its novelty stands in its highly modular architecture. Advanced users can therefore also implement additional customized modules which extend the functionality of the existing components within the provided interface. This paper introduces SwisTrack and shows experiments with both marked and marker-less agents.

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