Related papers: Animal-Inspired Agile Flight Using Optical Flow Se…
Motion perception is a critical capability determining a variety of aspects of insects' life, including avoiding predators, foraging and so forth. A good number of motion detectors have been identified in the insects' visual pathways.…
The optical flow of humans is well known to be useful for the analysis of human action. Recent optical flow methods focus on training deep networks to approach the problem. However, the training data used by them does not cover the domain…
Optical flow is a crucial component of the feature space for early visual processing of dynamic scenes especially in new applications such as self-driving vehicles, drones and autonomous robots. The dynamic vision sensors are well suited…
Detecting and tracking moving targets through foliage is difficult, and for many cases even impossible in regular aerial images and videos. We present an initial light-weight and drone-operated 1D camera array that supports parallel…
Animal collective behavior is often modeled with self-propelled particles, assuming each individual has ``omniscient'' knowledge of its neighbors. Yet, neighbors may be hidden from view and we do not know the effect of this information…
In collective motion, perceptually-limited individuals move in an ordered manner, without centralized control. The perception of each individual is highly localized, as is its ability to interact with others. While natural collective motion…
In this article, we propose a traffic rule inspired from nature, that facilitates an elite agent to move efficiently through a crowd of inert agents. When an object swims in a fluid medium or an intruder is forced through granular matter,…
In this work, Global Position System (GPS) data from a flock of homing pigeons are analysed. The flocking behaviour of the considered homing pigeons is formulated as a swarm optimal trajectory tracking control problem. The swarm problem in…
Honey bees use optical flow to avoid obstacles effectively. In this research work similar methodology was tested on a simulated mobile robot. Simulation framework was based on VRML and Simulink in a 3D world. Optical flow vectors were…
Animals such as insects have provided a rich source of inspiration for designing robots. For example, animals navigate to goals via efficient coordination of individual motor actions, and demonstrate natural solutions to problems also faced…
Insects use visual cues to control their flight behaviours. By estimating the angular velocity of the visual stimuli and regulating it to a constant value, honeybees can perform a terrain following task which keeps the certain height above…
Active sensing is traditionally defined as the expenditure of energy, typically in the form of movement, for obtaining information. Here, we propose that the combination of reliance on adaptive sensors, the linkage between movement and…
In this work, we extract the optical flow field corresponding to moving objects from an image sequence of a scene impacted by atmospheric turbulence \emph{and} captured from a moving camera. Our procedure first computes the optical flow…
Ocean sampling for highly temporal phenomena, such as harmful algal blooms, necessitates a vehicle capable of fast aerial travel interspersed with an aquatic means of acquiring in-situ measurements. Vehicle platforms with this capability…
The operation of drones in cluttered environments and over extended areas demands adaptive flight capabilities to meet the opposing aerodynamic requirements of agile and fast cruise flight. High agility and maneuverability are required to…
Aerial insects can effortlessly navigate dense vegetation, whereas similarly sized aerial robots typically depend on offboard sensors and computation to maintain stable flight. This disparity restricts insect-scale robots to operation…
Tracking motions of humans or objects in the surroundings of the robot is essential to improve safe robot motions and reactions. In this work, we present an approach for scene flow estimation from low-density and noisy point clouds acquired…
Autonomous drone racing requires powerful perception, planning, and control and has become a benchmark and test field for autonomous, agile flight. Existing work usually assumes static race tracks with known maps, which enables offline…
In this paper we are interested to the zygodactyly phenomenon in birds, and in particolar in parrots. This arrangement, common in species living on trees, is a distribution of the foot with two toes facing forward and two back. We give a…
To make efficient use of limited physical resources, the brain must match its coding and computational strategies to the statistical structure of input signals. An attractive testing ground for these principles is the problem of motion…