123 research outputs found
Optic Flow Based Visual Guidance: From Flying Insects to Miniature Aerial Vehicles
International audienc
Optic Flow Based Autopilots: Speed Control and Obstacle Avoidance
International audienceThe explicit control schemes presented here explain how insects may navigate on the sole basis of optic flow (OF) cues without requiring any distance or speed measurements: how they take off and land, follow the terrain, avoid the lateral walls in a corridor and control their forward speed automatically. The optic flow regulator, a feedback system controlling either the lift, the forward thrust or the lateral thrust, is described. Three OF regulators account for various insect flight patterns observed over the ground and over still water, under calm and windy conditions and in straight and tapered corridors. These control schemes were simulated experimentally and/or implemented onboard two types of aerial robots, a micro helicopter (MH) and a hovercraft (HO), which behaved much like insects when placed in similar environments. These robots were equipped with opto-electronic OF sensors inspired by our electrophysiological findings on houseflies' motion sensitive visual neurons. The simple, parsimonious control schemes described here require no conventional avionic devices such as range finders, groundspeed sensors or GPS receivers. They are consistent with the the neural repertoire of flying insects and meet the low avionic payload requirements of autonomous micro aerial and space vehicles
On the ecological approach to Information and control for roboticists
The ongoing and increasingly important trend in robotics to conceive designs that decentralize control is paralleled by currently active research paradigms in the
study of perception and action. James Gibsonâs ecological approach is one of these paradigms. Gibsonâs approach emerged in part as a reaction to representationalist and
computationalist approaches, which devote the bulk of their resources to the study of internal processes. The ecological approach instead focuses on constraints and
ambient energy patterns in the animalâenvironment coalition. The present article reviews how the emphasis on the environment by ecological psychologists has given
rise to the concepts of direct perception, higher order information, active information pick up, informationbased control laws, prospective control, and direct learning. Examples are included to illustrate these concepts and to show how they can be applied to the
construction of robots. Action is described as emergent and selfâorganized. It is argued that knowledge about perception, action, and learning as it occurs in living organisms may facilitate the construction of robots, more obviously so if the aim is to construct (to some extent) biologically plausible robots.This material is based upon work supported by grant FFI2009â13416âC02â02 of the Spanish Ministry of Science and Innovation
DE L'INSECTE AUX ROBOTS : OBSERVER, RECONSTRUIRE, INNOVER ET MIEUX COMPRENDRE
Les insectes ailĂ©s ont rĂ©solu des problĂšmes ardus tels que la stabilisation du vol, lâĂ©vitement dâobstacles en 3D, la poursuite de cibles, lâodomĂ©trie, lâatterrissage sans piste amĂ©nagĂ©e et lâatterrissage sur des cibles en mouvements, problĂšmes sur lesquels bute encore la robotique autonome contemporaine. Certains principes naturels, Ă©prouvĂ©s depuis des millions dâannĂ©es, peuvent aujourdâhui apporter Ă la Robotique des idĂ©es innovantes. Nous savons depuis 70 ans que les insectes ailĂ©s rĂ©agissent visuellement aux mouvements relatifs du sol causĂ©s par leur mouvement propre [Kennedy, 1939]. De façon surprenante, cet indice visuel naturel, plus rĂ©cemment nommĂ© âflux optique" [Gibson, 1950], nâa pas encore envahi le champ de lâaĂ©ronautique, alors mĂȘme que les capteurs et les traitements mis en oeuvre par le systĂšme nerveux dâun insecte au service de son comportement visuo-moteur commencent Ă ĂȘtre clairement identifiĂ©s [Kennedy, 1951; Reichardt, 1969; Hausen, 1984; Pichon et al., 1989; Franceschini et al., 1989; Collett et al., 1993; Srinivasan et al., 1996, 2000;Serres et al., 2008b; Portelli et al., 2010a].Accorder une certaine autoritĂ© de vol Ă un micro-aĂ©ronef est une tĂąche particuliĂšrement difficile, en particulier pendant le dĂ©collage, lâatterrissage, ou en prĂ©sence de vent. Construire un aĂ©ronef de quelques grammes ou dizaines de grammes Ă©quipĂ© dâun pilote automatique demande alors une dĂ©marche innovante. Jâai donc choisi une dĂ©marche bioinspirĂ©e rĂ©solument tournĂ©e vers les insectes ailĂ©s pour tenter de rĂ©soudre les problĂšmes inhĂ©rents au dĂ©collage, au contrĂŽle de la vitesse, Ă lâĂ©vitement dâobstacles, Ă la rĂ©action au vent, ou bien encore lâatterrissage grĂące Ă lamesure du flux optique
Honeybees' Speed Depends on Dorsal as Well as Lateral, Ventral and Frontal Optic Flows
Flying insects use the optic flow to navigate safely in unfamiliar environments, especially by adjusting their speed and their clearance from surrounding objects. It has not yet been established, however, which specific parts of the optical flow field insects use to control their speed. With a view to answering this question, freely flying honeybees were trained to fly along a specially designed tunnel including two successive tapering parts: the first part was tapered in the vertical plane and the second one, in the horizontal plane. The honeybees were found to adjust their speed on the basis of the optic flow they perceived not only in the lateral and ventral parts of their visual field, but also in the dorsal part. More specifically, the honeybees' speed varied monotonically, depending on the minimum cross-section of the tunnel, regardless of whether the narrowing occurred in the horizontal or vertical plane. The honeybees' speed decreased or increased whenever the minimum cross-section decreased or increased. In other words, the larger sum of the two opposite optic flows in the horizontal and vertical planes was kept practically constant thanks to the speed control performed by the honeybees upon encountering a narrowing of the tunnel. The previously described ALIS (âAutopiLot using an Insect-based vision Systemâ) model nicely matches the present behavioral findings. The ALIS model is based on a feedback control scheme that explains how honeybees may keep their speed proportional to the minimum local cross-section of a tunnel, based solely on optic flow processing, without any need for speedometers or rangefinders. The present behavioral findings suggest how flying insects may succeed in adjusting their speed in their complex foraging environments, while at the same time adjusting their distance not only from lateral and ventral objects but also from those located in their dorsal visual field
Le pilotage visuel chez l'abeille : expériences et modÚle
Quand un insecte vole, l'image des objets Ă l'entour dĂ©file sur sa rĂ©tine. De nombreuses expĂ©riences ont montrĂ© que ce dĂ©filement angulaire (flux optique) joue un rĂŽle majeur dans le contrĂŽle du vol. Les insectes semblent maintenir le flux optique perçu Ă une valeur prĂ©fĂ©rĂ©e, les conduisant Ă adopter une position et une vitesse "de sĂ©curitĂ©". Nous avons Ă©laborĂ© un modĂšle basĂ© sur le principe de "rĂ©gulation du flux optique" proposĂ© prĂ©cĂ©demment par notre laboratoire, et capable de rendre compte d'observations et de rĂ©sultats d'expĂ©riences rĂ©alisĂ©es auparavant chez les insectes. Nous avons ensuite rĂ©alisĂ© des expĂ©riences comportementales sur des abeilles en vol libre, en environnement contrĂŽlĂ©, visant Ă mettre en dĂ©faut le modĂšle proposĂ©. Nos rĂ©sultats rĂ©vĂšlent un lien Ă©troit entre flux optique ventral et hauteur de vol. Ils montrent aussi que l'abeille est sensible au flux optique dorsal et enfin que l'abeille adapte sa vitesse Ă l'encombrement de l'environnement dans les plans vertical et horizontal. Tous ces rĂ©sultats Ă©tayent le modĂšle proposĂ©. Cependant une expĂ©rience finale suggĂšre qu'au delĂ de l'aspect "rĂ©flexe" du contrĂŽle du vol, l'apprentissage joue un rĂŽle et module le comportement de vol. Ceci impose d'inclure un Ă©lĂ©ment "cognitif" au schĂ©ma proposĂ©. Cette thĂšse dĂ©crit, pour la premiĂšre fois sous la forme d'un schĂ©ma fonctionnel, les principes mis en Ćuvre dans le contrĂŽle 3D du vol d'un insecte par le flux optique. Le caractĂšre explicite du modĂšle proposĂ©, d'une part ouvre la voie Ă de nouvelles expĂ©riences comportementales susceptibles de le mettre en dĂ©faut ou d'en prĂ©ciser les limites, d'autre part le rend directement applicable Ă la robotique mobile, aĂ©rienne ou spatiale.When an insect flies in its environment, the image of the surrounding objects moves on its retina. Several studies have shown that this angular movement, called "optic flow", plays a major role in the insect flight control. Flying insects seem to maintain the perceived optic flow at a prefered value, which makes them choose a "safe" position and a "safe" speed. We first designed a model based on the "optic flow regulation principle" recently proposed at our laboratory, which can account for observations and results previously shown on insects. We then performed behavioral experiments using free flying bees in controlled environments, which aimed at refuting the proposed model. Our results show a direct link between the ventral optic flow and the flight height. They also show that the honeybee is sensitive to the dorsal optic flow and that the honeybee can adjust its speed according to the cluttering of the environment in both the vertical and horizontal planes. All these results support the proposed model. The results of a last experiment suggest, however, that beyond the "reflex" part of the flight control system, a learning process may play a role and modulate the flight behavior. This last point requires that a learning process be incorporated into the model. This thesis for the first time proposes an explicit and functional scheme based on optic flow, describing the principles involved in the 3D flight control system of an insect. This model suggests new behavioral experiments liable to fault it. Because this model is explicit, it may be directly implemented onboard aerial or spatial robots
Aerial Vehicles
This book contains 35 chapters written by experts in developing techniques for making aerial vehicles more intelligent, more reliable, more flexible in use, and safer in operation.It will also serve as an inspiration for further improvement of the design and application of aeral vehicles. The advanced techniques and research described here may also be applicable to other high-tech areas such as robotics, avionics, vetronics, and space
Unmanned Vehicle Systems & Operations on Air, Sea, Land
Unmanned Vehicle Systems & Operations On Air, Sea, Land is our fourth textbook in a series covering the world of Unmanned Aircraft Systems (UAS) and Counter Unmanned Aircraft Systems (CUAS). (Nichols R. K., 2018) (Nichols R. K., et al., 2019) (Nichols R. , et al., 2020)The authors have expanded their purview beyond UAS / CUAS systems. Our title shows our concern for growth and unique cyber security unmanned vehicle technology and operations for unmanned vehicles in all theaters: Air, Sea and Land â especially maritime cybersecurity and China proliferation issues. Topics include: Information Advances, Remote ID, and Extreme Persistence ISR; Unmanned Aerial Vehicles & How They Can Augment Mesonet Weather Tower Data Collection; Tour de Drones for the Discerning Palate; Underwater Autonomous Navigation & other UUV Advances; Autonomous Maritime Asymmetric Systems; UUV Integrated Autonomous Missions & Drone Management; Principles of Naval Architecture Applied to UUVâs; Unmanned Logistics Operating Safely and Efficiently Across Multiple Domains; Chinese Advances in Stealth UAV Penetration Path Planning in Combat Environment; UAS, the Fourth Amendment and Privacy; UV & Disinformation / Misinformation Channels; Chinese UAS Proliferation along New Silk Road Sea / Land Routes; Automaton, AI, Law, Ethics, Crossing the Machine â Human Barrier and Maritime Cybersecurity.Unmanned Vehicle Systems are an integral part of the US national critical infrastructure The authors have endeavored to bring a breadth and quality of information to the reader that is unparalleled in the unclassified sphere. Unmanned Vehicle (UV) Systems & Operations On Air, Sea, Land discusses state-of-the-art technology / issues facing U.S. UV system researchers / designers / manufacturers / testers. We trust our newest look at Unmanned Vehicles in Air, Sea, and Land will enrich our students and readers understanding of the purview of this wonderful technology we call UV.https://newprairiepress.org/ebooks/1035/thumbnail.jp
Unmanned Systems Sentinel / 11 January 2016
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