Tracking and Mapping of Spatiotemporal Quantities Using Unicellular Swarm Intelligence by John Oyekan

Author:John Oyekan
Language: eng
Format: epub
Publisher: Springer International Publishing, Cham

(4.1)

(4.2)

(4.3)

where is the mean run time, is the mean run time in the absence of concentration gradients and is a amplification constant of the bacterial system.

Assuming a spatial function C in the environment, is the fraction of the receptor bound of the agent when measuring concentration C(x, t) at position x. In this work, C(x, t) was the present reading taken by the robotic agent at position x. is the dissociation constant of the bacterial chemoreceptor and controls the chemical sensitivity of the bacteria. is the rate of change of and is the weighted rate of change of , while is the time constant of the bacterial system. resembles an output from an exponential moving average low pass filter. This is especially useful in a bacterium system because it encounters noise in its dynamics, chemoreceptors, and environmental turbulence. The bacteria remembers the past 4 s chemoreceptor readings [3] and is able to filter out high frequency components and still respond to immediate changes in its environment.

The above equations determine the time between tumbles and hence the length of runs between tumbles. During the tumble phase, the agent can randomly choose an angle in the uniform distribution set .

In the following subsections, the Berg and Brown controller will be analysed in order to understand how it works.

Remark: The spatial function C being investigated is a smooth continuous function bounded to a region of non-negative numbers with no fractional numbers and an optimal value of 100. As a result of the above, the agents can only read non-negative and non-fractional values. This is the case in most real life applications where sensors read non-negative values and non-fractional values.

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