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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.  +
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
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15 May 2016 06:16:39  +
URL
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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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