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A bio-inspired sighted robot chases like a hoverfly.

Fabien Colonnier1, Soledad Ramirez-Martinez, Stéphane Viollet

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This study introduces a bio-inspired robot vision system, CurvACE, enabling precise target following. The system mimics fly behavior, achieving high accuracy in object localization and pursuit under varying conditions.

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Area of Science:

  • Robotics
  • Computer Vision
  • Bio-inspired Systems

Background:

  • Robots require advanced visual processing for navigation and target tracking.
  • Existing systems often lack the hyperacuity and adaptive capabilities found in biological vision.

Purpose of the Study:

  • To develop and evaluate a novel bio-inspired visual processing system for robotic target localization and pursuit.
  • To investigate the biomimicry of fly visual behavior in robotic applications.

Main Methods:

  • Utilized an artificial compound eye (CurvACE) for active environment scanning.
  • Implemented a bio-inspired summation of Gaussian receptive fields for edge localization.
  • Integrated the sensor onto a Mecanum-wheeled mobile robot (ACEbot) for pursuit tasks.

Main Results:

  • Achieved hyperacuity in locating textured cylindrical targets, surpassing the sensor's coarse resolution.
  • Demonstrated consistent and repeatable target pursuit under diverse lighting conditions.
  • Robotic pursuit trajectories closely mimicked the behavior of the male fly, Syritta Pipens L.

Conclusions:

  • The CurvACE system provides a robust platform for robotic target following with high precision.
  • The study supports the hypothesis of flies maintaining target centering and constant subtended angle during pursuit.
  • The developed strategy offers potential for motion camouflage applications.