Journal article Open Access

Avoidance of non-localizable obstacles in echolocating bats: a robotic model

Vanderelst, Dieter


The python 2.7 (.py) files were used to generate the graphs and statistics reported in the paper. Of the scripts, two are of particular importance:

These scripts read in the data (see below) for the rectangular arena and corridor experiments. The scripts also run the complete analysis and visualization, as reported in the paper.


All data are provided in the folder ``RobotData``. This folder contains the data for the experiments in the rectangular arena and the corridor. The data for each run or trial are located in a separate folder.

Structure of a folder for a single run:

+ config folder: this folder contains a copy of the settings used for that trial. These data are copied at runtime and provide a backup of the settings used.

+ python folder: this folder contains a copy of the python code that was used to run the trial. The python code was copied at run time as a backup.

Together, the config and the python folder contain all the code and settings required to rerun the experiments. As such, they provide a complete snapshot of the 'software environment' for the trial.

The data are found in two kinds of files:

+ .npy files: These are python Numpy ( files containing the echo data for the n-th call. The format is described here:

+ .csv file: This file is a log of the data collected at runtime. It contains variables such as the location and orientation of the robot. It also lists the linear and rotational speed of the robot.

In the paper, we mainly analyze the data contained in the .csv. file while the echo data contained in the ``.npy`` was used to steer the robot.

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