This paper discusses the implementation of insect-inspired visual navigation strategies in flying robots, in particular focusing on the impact of changing height. We start by assessing the information available at different heights for visual homing in natural environments, comparing results from an open environment against one where trees and bushes are closer to the camera. We then test a rou...

Image-based servozng systems are often used to track moving targets and their underlying control architecture is a regulation of the image. This regulation is a function of rigid camera-to-target geometric constraints. Satisfying such constraints requires that the robot motors have suficient velocity bandwidths, and oflen these bandwidths are limited. This paper lays down the foundation for a p...

It is known that ants learn long visually guided routes through complex terrain. However, the mechanisms by which visual information is first learned and then used to control a route direction are not well understood. In this article, we propose a parsimonious mechanism for visually guided route following. We investigate whether a simple approach, involving scanning the environment and moving i...

We generalize Schrödinger’s factorization method for Hydrogen from the conventional separation into angular and radial coordinates to a Cartesian-based factorization. Unique this approach is fact that Hamiltonian represented as sum over factorizations in terms of coupled operators depend on momenta each Cartesian direction. determine eigenstates energies, wavefunctions both coordinate momentum ...

This work addresses the problem of resolving kinematic redundancy in legged robots, with the dual goals of maintaining a large reachable workspace and of achieving fast end effector motions in task space. In particular, for robots with four or more legs, gait planning allows for considerable flexibility in the orientation of a stance limb with respect to both body orientation and the ground. By...

The coordinate system in which humans learn novel motor skills is controversial. The representation of sensorimotor skills has been extensively studied by examining generalization after learning perturbations specifically designed to be ambiguous as to their coordinate system. Recent studies have found that learning is not represented in any simple coordinate system and can potentially be accou...

In this paper a new approach to iterative learning control for the practically relevant case of deterministic discrete linear plants with uniform rank greater than unity is developed. The analysis is undertaken in a 2D systems setting that, by using a strong form of stability for linear repetitive processes, allows simultaneous consideration of both trial-to-trial error convergence and along th...

In this paper, we describe a modular software that allows fast development of eye-in-hand image-based visual servoing applications (ViSP states for “Visual Servoing Platform”). Visual servoing consists in specifying a task as the regulation in the image of a set of visual features. Various issues have thus to considered in the design of such application: among these issues we find the control o...

Iterative learning control is a technique especially developed for application to processes which are required to repeat the same operation over a finite duration. The exact sequence of operation is that the task is completed, the process is reset and then the operation is repeated. Applications are widespread among many industries, e.g. a gantry robot which is required to place items on a conv...

This paper demonstrates that sonar images correlate badly because target geometry and image fringes correlate in different coordinate systems. It is shown that if the receiver is a line array, all point objects have the same image in a coordinate system with axes of range and the sine of target bearing (the (r, s) coordinate system). Results from an ocean experiment are presented. The ocean exp...