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Bioinspired Visuomotor Convergence

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2 Author(s)
Humbert, J.S. ; Dept. of Aerosp. Eng., Univ. of Maryland, College Park, MD, USA ; Hyslop, A.M.

In this paper, wide-field integration methods, which are inspired by the spatial decompositions of wide-field patterns of optic flow in the insect visuomotor system, are explored as an efficient means to extract visual cues for guidance and navigation. A control-theoretic framework is developed and used to quantitatively link weighting functions to behaviorally-relevant interpretations such as relative orientation, position, and speed in a corridor environment. It is shown through analysis and demonstration on a ground vehicle that the proposed sensorimotor architecture gives rise to navigational heuristics, namely, centering and speed regulation, which are observed in natural systems.

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Robotics, IEEE Transactions on  (Volume:26 ,  Issue: 1 )