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  Behavior-oriented vision for biomimetic flight control

Neumann, T., & Bülthoff, H. (2002). Behavior-oriented vision for biomimetic flight control. Biologically-inspired Robotics: The Legacy of W. Grey Walter, 196-203.

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Item Permalink: http://hdl.handle.net/11858/00-001M-0000-0013-DF36-5 Version Permalink: http://hdl.handle.net/21.11116/0000-0005-8D4F-5
Genre: Conference Paper

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 Creators:
Neumann, TR1, 2, Author              
Bülthoff, HH1, 2, Author              
Affiliations:
1Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497797              
2Max Planck Institute for Biological Cybernetics, Max Planck Society, Spemannstrasse 38, 72076 Tübingen, DE, ou_1497794              

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 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.

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 Dates: 2002-08
 Publication Status: Published in print
 Pages: -
 Publishing info: -
 Table of Contents: -
 Rev. Type: -
 Identifiers: BibTex Citekey: 1825
 Degree: -

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Title: EPSRC/BBSRC International Workshop on Biologically Inspired Robotics (WGW 2002)
Place of Event: Bristol, UK
Start-/End Date: 2002-08-14 - 2002-08-16

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Title: Biologically-inspired Robotics: The Legacy of W. Grey Walter
Source Genre: Journal
 Creator(s):
Arbib, M, Editor
Walter, WG, Honoree
Affiliations:
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Publ. Info: Bristol, UK
Pages: 296 Volume / Issue: - Sequence Number: - Start / End Page: 196 - 203 Identifier: -