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Conference Paper

Behavior-oriented vision for biomimetic flight control

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http://pubman.mpdl.mpg.de/cone/persons/resource/persons84104

Neumann,  TR
Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society;

http://pubman.mpdl.mpg.de/cone/persons/resource/persons83839

Bülthoff,  HH
Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society;

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Neumann, T., & Bülthoff, H. (2002). Behavior-oriented vision for biomimetic flight control. Proceedings of the EPSRC/BBSRC International Workshop on Biologically Inspired Robotics: The Legacy of W. Grey Walter, 14-16 August 2002, HP Labs Bristol, UK, 196-203.


Cite as: http://hdl.handle.net/11858/00-001M-0000-0013-DF36-5
Abstract
Most flying insects extract information about their spatial orientation and self-motion from visual cues such as global patterns of light intensity or optic flow. We present an insect-inspired neuronal filter model and show how optimal receptive fields for the detection of flight-relevant input patterns can be derived directly from the local receptor signals during typical flight behavior. Using a least squares principle, the receptive fields are optimally adapted to all behaviorally relevant, invariant properties of the agent and the environment. In closed-loop simulations in a highly realistic virtual environment we show that four independent, purely reactive mechanisms based on optimized receptive fields for attitude control, course stabilization, obstacle avoidance and altitude control, are sufficient for a fully autonomous and robust flight stabilization with all six degrees of freedom.