Biomimetic Autopilot Based on Minimalistic Motion Vision for Navigating along Corridors Comprising U-shaped and S-shaped Turns

Serres, Julien; Ruffier, Franck

doi:10.1016/s1672-6529(14)60099-8

Cited by 12 publications

(12 citation statements)

References 47 publications

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“…The saccade duration has either been set to a constant prespecified value [116,117], determined according to a Gaussian distribution [118], or modulated using optic flow [119][120][121][122][123]. Recently, an optic flow-based algorithm has been developed to compute a quantified saccade angle; this has allowed a simulated fully actuated hovercraft to negotiate tight bends by triggering body saccades, on the basis of a time-to-contact criterion, and to realign its trajectory parallel to the wall along a corridor that includes sharp turns [124].…”

Section: Image Expansion To Avoid Frontal Obstaclesmentioning

confidence: 99%

“…and a dual optic flow regulator-based intersaccadic system (see section 3.1.) as depicted in detail in [124]. In Figure 9, the optic flow set points have been set at ω setSide ¼ 90 =s and ω setFwd ¼ 130 =s; the LORA robot is seen to explore at V f ¼ 0:33 AE 0:21 m/s inside the building and to adopt two possible routes along straight sections (following either the right wall or the left wall) according to Eqs.…”

Section: Obstacle Avoidance Inside a Mazementioning

confidence: 99%

“…The LORA robot is driven by a body saccadic system (merging two incidence angles computed by AE30 and AE45 LMSs with Eq. (14) in [124]) and a dual optic flow regulator-based intersaccadic system as depicted in detail in [124]. This maze could represent corridors inside a building.…”

Section: Drones In the Field Of Architecturementioning

confidence: 99%

See 2 more Smart Citations

Taking Inspiration from Flying Insects to Navigate inside Buildings

Serres¹

2018

Interdisciplinary Expansions in Engineering and Design With the Power of Biomimicry

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These days, flying insects are seen as genuinely agile micro air vehicles fitted with smart sensors and also parsimonious in their use of brain resources. They are able to visually navigate in unpredictable and GPS-denied environments. Understanding how such tiny animals work would help engineers to figure out different issues relating to drone miniaturization and navigation inside buildings. To turn a drone of~1 kg into a robot, miniaturized conventional avionics can be employed; however, this results in a loss of their flight autonomy. On the other hand, to turn a drone of a mass between~1 g (or less) and~500 g into a robot requires an innovative approach taking inspiration from flying insects both with regard to their flapping wing propulsion system and their sensory system based mainly on motion vision in order to avoid obstacles in three dimensions or to navigate on the basis of visual cues. This chapter will provide a snapshot of the current state of the art in the field of bioinspired optic flow sensors and optic flowbased direct feedback loops applied to micro air vehicles flying inside buildings.

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Section: Image Expansion To Avoid Frontal Obstaclesmentioning

confidence: 99%

Section: Obstacle Avoidance Inside a Mazementioning

confidence: 99%

See 1 more Smart Citation

Taking Inspiration from Flying Insects to Navigate inside Buildings

Serres¹

2018

Interdisciplinary Expansions in Engineering and Design With the Power of Biomimicry

Self Cite

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“…The saccade duration has either been set to a constant pre-specified value ( [83]; [84]), determined according to a Gaussian distribution [85], or modulated using optic flow ( [86]; [87]; [88]; [89]; [90]). Recently, an optic-flow based algorithm has been developed to compute a quantified saccade angle; this has allowed a simulated fully actuated hovercraft to negotiate tight bends by triggering body saccades, on the basis of a time-to-contact criterion and to realign its trajectory parallel to the wall along a corridor that includes sharp turns [91]. Figure 9: 30-g microflyer with description of electronic components, sensors, and actuators.…”

Section: Frontal Image Expansionmentioning

confidence: 99%

Optic Flow‐Based Robotics

Serres

Ruffier

2016

Wiley Encyclopedia of Electrical and Electronics Engineering

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Flying insects and birds are able to fly smartly in an unpredictable environment. Many animals have been found to rely mainly on optic flow. Optic flow can be defined as the vector field of the apparent motion of objects, surfaces, and edges in a visual scene generated by the relative motion between an observer (an eye or a camera) and the scene. Optic flow is particularly useful for short‐range navigation because it depends on the ratio between (i) the relative linear speed of the visual scene with respect to the observer and (ii) the distance of the observer from obstacles in the surrounding environment. However, this does not require any actual measurement of either speed or distance. Optic flow is therefore suitable for various navigational tasks, such as takeoff or landing along vertical or longitudinal axes, terrain following, speed control in a cluttered environment, lateral and frontal obstacle avoidance, and visual odometry. This article focuses on feedback loops that use optic flow to control robots in the same way as the Gibsonian approach, which sometimes enhances robot perception, by a distance or speed measurement, even though the direct measurement of distance or linear speed does not exist in flying insects and birds. Optic flow is likely to be one of the most important visual cues that could be used during the next decade to enhance robot reactivity in unpredictable environments. Conversely, the biorobotic approach can therefore help to better understand how flying animals can move smartly in such an environment.

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“…However, OF-based strategy has been also demonstrated to improve the crossing capabilities in case of a tapered wall encountered in bent corridors [12]. In [4], the slope of the ground has been assessed on board a quadrotor.…”

Section: Introductionmentioning

confidence: 99%

A quasi-panoramic bio-inspired eye for flying parallel to walls

Vanhoutte

Ruffier²,

Serres³

2017

2017 Ieee Sensors

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Abstract-In this study, a quasi-panoramic bio-inspired eye dedicated to optic flow measurement on board micro flying robots is presented. It will allow future micro flying robots to mimic honeybees' navigational tasks which work without any metric sensors. An innovative optic flow-based algorithm was tested in the horizontal plane to measure the robot's incidence angle when travelling along a wall. Experimental results achieved while using a moving texture showed that our algorithm is able to measure the local visual heading with respect to a tapered wall with an error of 3• and an accuracy of 3• on average. Our bio-inspired eye will be implemented in the near future on board a micro quadrotor to "sense and avoid" obstacles in a GPS-denied environment.

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Biomimetic Autopilot Based on Minimalistic Motion Vision for Navigating along Corridors Comprising U-shaped and S-shaped Turns

Cited by 12 publications

References 47 publications

Taking Inspiration from Flying Insects to Navigate inside Buildings

Taking Inspiration from Flying Insects to Navigate inside Buildings

Optic Flow‐Based Robotics

A quasi-panoramic bio-inspired eye for flying parallel to walls

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