alife2020.pdf (7.92 MB)
Exploring the robustness of insect-inspired visual navigation for flying robots
conference contribution
posted on 2023-06-09, 23:05 authored by Alex Dewar, Paul GrahamPaul Graham, Thomas NowotnyThomas Nowotny, Andy PhilippidesAndy PhilippidesHaving previously developed and tested insect-inspired visual navigation algorithms for ground-based agents, we here investigate their robustness when applied to agents moving in three dimensions, to assess if they are applicable to both flying insects and robots, focusing on the impact and potential utility of changes in height. We first demonstrate that a robot implementing a route navigation algorithm can successfully navigate a route through an indoor environment at a variety of heights, even using images saved at different heights. We show that that in our environments, the efficacy of route navigation is increased with increasing height and also, for those environments, that there is better transfer of information when using images learnt at a high height to navigate when flying lower, than the other way around. This suggests that there is perhaps an adaptive value to the storing and use of views from increased height. To assess the limits to this result, we show that it is possible for a ground-based robot to recover the correct heading when using goal images stored from the perspective of a quadcopter. Through the robustness of this bio-inspired algorithm, we thus demonstrate the benefits of the ALife approach.
Funding
Brains on Board: Neuromorphic Control of Flying Robots; G1980; EPSRC-ENGINEERING & PHYSICAL SCIENCES RESEARCH COUNCIL; EP/P006094/1
History
Publication status
- Published
File Version
- Accepted version
Journal
Artificial Life Conference ProceedingsPublisher
The MIT PressExternal DOI
Issue
32Page range
668-677Event name
ALIFE 2020: The 2020 Conference on Artificial LifeEvent location
OnlineEvent type
conferenceEvent date
July 13 - 18, 2020Department affiliated with
- Informatics Publications
Full text available
- Yes
Peer reviewed?
- Yes
Editors
Josh Bongard, Radhakrishna Dasari, Lisa Soros, Juniper Lovato, Laurent Hebert-DufrésneLegacy Posted Date
2021-02-17First Open Access (FOA) Date
2021-02-17First Compliant Deposit (FCD) Date
2021-02-17Usage metrics
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