TY - GEN
T1 - Insect inspired visual control of translatory flight
AU - Neumann, Titus R.
AU - Bulthoff, Heinrich
PY - 2001
Y1 - 2001
N2 - Flying insects use highly efficient visual strategies to control their selfmotion in three-dimensional space. We present a biologically inspired, minimalistic model for visual flight control in an autonomous agent. Large, specialized receptive fields exploit the distribution of local intensities and local motion in an omnidirectional field of view, extracting the information required for attitude control, course stabilization, obstacle avoidance, and altitude control. In openloop simulations, recordings from each control mechanism robustly indicate the sign of attitude angles, self-rotation, obstacle direction and altitude deviation, respectively. Closed-loop experiments show that these signals are sufficient for three-dimensional flight stabilization with six degrees of freedom.
AB - Flying insects use highly efficient visual strategies to control their selfmotion in three-dimensional space. We present a biologically inspired, minimalistic model for visual flight control in an autonomous agent. Large, specialized receptive fields exploit the distribution of local intensities and local motion in an omnidirectional field of view, extracting the information required for attitude control, course stabilization, obstacle avoidance, and altitude control. In openloop simulations, recordings from each control mechanism robustly indicate the sign of attitude angles, self-rotation, obstacle direction and altitude deviation, respectively. Closed-loop experiments show that these signals are sufficient for three-dimensional flight stabilization with six degrees of freedom.
UR - http://www.scopus.com/inward/record.url?scp=84949788810&partnerID=8YFLogxK
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M3 - Conference contribution
AN - SCOPUS:84949788810
SN - 3540425675
SN - 9783540425670
VL - 2159
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 627
EP - 636
BT - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
PB - Springer Verlag
T2 - 6th European Conference on Advances in Artificial Life, ECAL 2001
Y2 - 10 September 2001 through 14 September 2001
ER -