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A Control-Oriented Analysis of Bio-inspired Visuomotor Convergence

Humbert, J. Sean and Murray, Richard M. and Dickinson, Michael H. (2005) A Control-Oriented Analysis of Bio-inspired Visuomotor Convergence. In: 44th IEEE Conference on Decision and Control. IEEE , Piscataway, NJ, pp. 245-250. ISBN 0-7803-9567-0.

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Insects exhibit incredibly robust closed loop fight dynamics in the face of uncertainties. A fundamental principle contributing to this unparalleled behavior is rapid processing and convergence of visual sensory information to fight motor commands via spatial wide-field integration, accomplished by retinal motion pattern sensitive interneurons (LPTCs) in the lobula plate portion of the visual ganglia. With in a control- theoretic frame work, models for spatially continuous retinal image flow and wide-field integration processing are developed, establishing the connection between image flow kernels (retinal motion pattern sensitivities) and the feedback terms they represent. It is shown that these out puts are sufficient to stabilize speed regulation and terrain following tasks. Hence, extraction of global retinal motion cues through computationally efficient wide-field integration processing provides a novel and promising methodology for utilizing visual sensory information in autonomous robotic navigation and fight control applications.

Item Type:Book Section
Related URLs:
URLURL TypeDescription
Murray, Richard M.0000-0002-5785-7481
Dickinson, Michael H.0000-0002-8587-9936
Additional Information:© 2005 IEEE. Partial support for this work was provided by AFOSR under grant F30602-01-2-0558 and ARO under grant DAAD19-03-D-0004.
Funding AgencyGrant Number
Air Force Office of Scientific Research (AFOSR)F30602-01-2-0558
Army Research Office (ARO)DAAD19-03-D-0004
Record Number:CaltechAUTHORS:20190322-155010781
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Official Citation:J. S. Humbert, R. M. Murray and M. H. Dickinson, "A Control-Oriented Analysis of Bio-inspired Visuomotor Convergence," Proceedings of the 44th IEEE Conference on Decision and Control, Seville, Spain, 2005, pp. 245-250. doi: 10.1109/CDC.2005.1582162
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:94077
Deposited By: Tony Diaz
Deposited On:22 Mar 2019 23:03
Last Modified:16 Nov 2021 17:02

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