The paths cockroaches exploring unknown environments vary from individual to individual.  We model their behavior with a state-based model we call RAMBLER. RAMBLER stands for Robotic Algorithm Mimicking Biased Lone Exploration in Roaches.   All the state transition parameters were measured from cockroaches.  We hope that this model might be insightful for helping robots explore better and might help us learn more about cockroach behavior, brains, and neurobiological control.

We recorded many cockroaches finding a shelter in a square arena, and from this we measured state transition parameters for our model RAMBLER.  We test this model both in simulation on on robotic platforms, such as RamblerRobot, and we refine it based on additional cockroach experiments performed in the Ritzmann Lab.