Olfactory pursuit: catching a moving odor source in complex flows

摘要

Locating and intercepting a moving target from possibly delayed, intermittent sensory signals is a paradigmatic problem in decision-making under uncertainty, and a fundamental challenge for, e.g., animals seeking prey or mates and autonomous robotic systems. Odor signals are intermittent, strongly mixed by turbulent-like transport, and typically lag behind the true target position, thereby complicating localization. Here, we formulate olfactory pursuit as a partially observable Markov decision process in which an agent maintains a joint belief over the target's position and velocity. Using a discrete run-and-tumble model, we compute quasi-optimal policies by numerically solving the Bellman equation and benchmark them against well-established information-theoretic strategies such as Infotaxis. We show that purely exploratory policies are near-optimal when the target frequently reorients, but fail dramatically when the target exhibits persistent motion. We thus introduce a computationally efficient hybrid policy that combines the information-gain drive of Infotaxis with a "greedy" value function derived from an associated fully observable control problem. Our heuristic achieves near-optimal performance across all persistence times and substantially outperforms purely exploratory approaches. Moreover, our proposal demonstrates strong robustness even in more complex search scenarios, including continuous run-and-tumble prey motion with moderate persistence time, model mismatch, and more accurate plume dynamics representation. Our results identify predictive inference of target motion as the key ingredient for effective olfactory pursuit and provide a general framework for search in information-poor, dynamically evolving environments.