A Control-Oriented Analysis of Bio-Inspired Visuomotor Convergence
J. Sean Humbert and Richard M. Murray and Michael H. Dickinson
2005 Conference on Decision and Control (CDC)
Insects exhibit unparalleled and incredibly robust
flight dynamics in the face of uncertainties. A fundamental principle contributing to this amazing behavior is rapid processing
and convergence of visual sensory information to flight motor
commands via spatial wide-field integration, accomplished by
motion pattern sensitive interneurons in the lobula plate portion
of the visual ganglia. Within a control-theoretic framework, a
model for wide-field integration of retinal image flow is developed, establishing the connection between image flow kernels
(retinal motion pattern sensitivities) and the feedback terms
they represent. It is demonstrated that the proposed output
feedback methodology is sufficient to give rise to experimentally
observed navigational heuristics as the centering and forward
speed regulation responses exhibited by honeybees.
Conference Paper
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Richard Murray
(murray@cds. caltech.edu)