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Model for a Sensor Inspired by Electric Fish

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5 Author(s)
Frédéric Boyer ; Institut de Recherche en Communication et Cybernétique de Nantes Laboratory, Ecole des Mines de Nantes , France ; Pol Bernard Gossiaux ; Brahim Jawad ; Vincent Lebastard
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This paper reports the first results from a program of work aimed at developing a swimming robot equipped with electric sense. After having presented the principles of a bioinspired electric sensor that is now working, we will build the models for electrolocation of objects that are suited to this kind of sensor. The produced models are in a compact analytical form in order to be tractable on the onboard computers of the future robot. These models are tested by comparing them with numerical simulations based on the boundary elements method. The results demonstrate the feasibility of the approach and its compatibility with online objects electrolocation, i.e., another parallel program of ours.

Published in:

IEEE Transactions on Robotics  (Volume:28 ,  Issue: 2 )