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A bio-plausible design for visual attitude stabilization |
Abstract |
We consider the problem of attitude stabil … We consider the problem of attitude stabilization using exclusively visual sensory input, and we look for a solution which can satisfy the constraints of a ``bio-plausible'' computation. We obtain a PD controller which is a bilinear form of the goal image, and the current and delayed visual input. Moreover, this controller can be learned using classic neural networks algorithms. The structure of the resulting computation, derived from general principles by imposing a bilinear computation, has striking resemblances with existing models for visual information processing in insects (Reichardt Correlators and lobula plate tangential cells). We validate the algorithms using faithful simulations of the fruit fly visual input. simulations of the fruit fly visual input. +
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Authors | Andrea Censi, Shuo Han, Sawyer B Fuller, Richard M Murray + |
ID | 2009e + |
Source | Conference on Decision and Control (CDC) + |
Tag | chfm09-cdc + |
Title | A bio-plausible design for visual attitude stabilization + |
Type | Preprint + |
Categories | Papers |
Modification date This property is a special property in this wiki.
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15 May 2016 06:16:39 + |
URL This property is a special property in this wiki.
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http://www.cds.caltech.edu/~murray/preprints/chfm09-cdc.pdf + |
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A bio-plausible design for visual attitude stabilization + | Title |
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