The xe2x80x9cSmellicopter,xe2x80x9d a biohybrid odor localizing nano air vehicle Robotic airborne chemical source localization has critical applications ranging from search and rescue to hazard detection to pollution assessment. Previous demonstrations on flying robots have required search times in excess of ten minutes, or required computationintensive signal processing, largely because of the slow response of semiconductor gas sensors. To mitigate these limitations, we developed a hybrid biologicalsynthetic chemical sensing platform consisting of a moth antenna on an aerial robot. We demonstrate that our robot, a 9 centimeter nano drone, can repeatedly detect and reach the source of a volatile organic chemical plume in less than a minute. We also introduce wind vanes to passively aim the robot upwind, greatly simplifying control. To our knowledge this is the first odorfinding robot to use this approach, and it allows for localization using feedback only from sensors carried onboard rather than GPS, allowing indoor operation. The chemical sensor consists of a hybrid biologicalsynthetic integrated chemical sensor (electroantennogram) using an excised antenna of the hawkmoth Manduca sexta and associated miniaturized electrophysiology conditioning circuitry. Our robot performs an insectinspired castandsurge search algorithm inspired by the odortracking behavior observed in Manduca sexta. These results represent a significant step toward robots that have the speed and sensitivity of biological systems.

Cooperative AudioVisual System for Localizing Small Aerial Robots Employing small size aerial robots, acting as mobile airborne sensors, to work alongside ground robots can be extremely useful in many different robotic missions. Due to the strict constraints in terms of size, weight, 3D coverage, processing power and power consumption. There are not many technological possibilities for performing independent selflocalization for such tiny robots. This paper describes a cooperative audiovisual localization system to robustly estimate the position of a small aerial robot from a ground robot. Experimental results with a 40gram quadrotor assess the performance of the system and demonstrate the reliability gained through fusion of sound measurements with visual information.