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Inspired by insects' visual brains, this paper presents original modelling of a complementary visual neuronal systems model for real-time and robust collision sensing. Two categories of wide-field motion sensitive neurons, i.e., the lobula…
Anyone who has tried to swat a fly has likely been frustrated by its remarkable agility.This ability stems from its visual neural perception system, particularly the collision-selective neurons within its small brain.For autonomous robots…
Looming detection plays an important role in insect collision prevention systems. As a vital capability evolutionary survival, it has been extensively studied in neuroscience and is attracting increasing research interest in robotics due to…
Collision detection is one of the most challenging tasks for Unmanned Aerial Vehicles (UAVs). This is especially true for small or micro UAVs, due to their limited computational power. In nature, flying insects with compact and simple…
For autonomous robots in dynamic environments mixed with human, it is vital to detect impending collision quickly and robustly. The biological visual systems evolved over millions of years may provide us efficient solutions for collision…
Compared to human vision, locust visual systems excel at rapid and precise collision detection, despite relying on only hundreds of thousands of neurons organized through a few neuropils. This efficiency makes them an attractive model…
In the central nervous systems of animals like pigeons and locusts, neurons were identified which signal objects approaching the animal on a direct collision course. Unraveling the neural circuitry for collision avoidance, and identifying…
This research addresses the challenging problem of visual collision detection in very complex and dynamic real physical scenes, specifically, the vehicle driving scenarios. This research takes inspiration from a large-field looming…
Insects have tiny brains but complicated visual systems for motion perception. A handful of insect visual neurons have been computationally modeled and successfully applied for robotics. How different neurons collaborate on motion…
Complex systems such as aircraft engines, turbines, and industrial machinery often operate under dynamically changing conditions. These varying operating conditions can substantially influence degradation behavior and make prognostic…
This paper presents a new artificial neuron model capable of learning its receptive field in the topological domain of inputs. The model provides adaptive and differentiable local connectivity (plasticity) applicable to any domain. It…
We present Neural-Swarm2, a learning-based method for motion planning and control that allows heterogeneous multirotors in a swarm to safely fly in close proximity. Such operation for drones is challenging due to complex aerodynamic…
In the locust's lobula giant movement detector neural pathways, four categories of inhibition, i.e., global inhibition, self-inhibition, lateral inhibition, and feed-forward inhibition, have been functionally explored in the context of…
Brains and sensory systems evolved to guide motion. Central to this task is controlling the approach to stationary obstacles and detecting moving organisms. Looming has been proposed as the main monocular visual cue for detecting the…
With increasing urban population, there is global interest in Urban Air Mobility (UAM), where hundreds of autonomous Unmanned Aircraft Systems (UAS) execute missions in the airspace above cities. Unlike traditional human-in-the-loop air…
Vehicular platooning promises transformative improvements in transportation efficiency and safety through the coordination of multi-vehicle formations enabled by Vehicle-to-Everything (V2X) communication. However, the distributed nature of…
The human visual system processes images with varied degrees of resolution, with the fovea, a small portion of the retina, capturing the highest acuity region, which gradually declines toward the field of view's periphery. However, the…
Wi-Fi channel state information (CSI) has become a promising solution for non-invasive breathing and body motion monitoring during sleep. Sleep disorders of apnea and periodic limb movement disorder (PLMD) are often unconscious and fatal.…
As a specific semantic segmentation task, aerial imagery segmentation has been widely employed in high spatial resolution (HSR) remote sensing images understanding. Besides common issues (e.g. large scale variation) faced by general…
A class of specialized neurons, called lobula plate tangential cells (LPTCs) has been shown to respond strongly to wide-field motion. The classic model, elementary motion detector (EMD) and its improved model, two-quadrant detector (TQD)…