Outdoor field performances of insect‐based visual motion sensors

Expert, Fabien; Viollet, Stéphane; Ruffier, Franck

doi:10.1002/rob.20398

Cited by 35 publications

(54 citation statements)

References 54 publications

(62 reference statements)

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“…Pure rotational motion was applied to the sensor with angular speed variations ranging from 1 • /s to 20 • /s using a previously described outdoor set-up [10]. The triangular response pattern obtained corresponds closely to the reference angular speed (see Fig.…”

Section: Free-flying Results With Ressacmentioning

confidence: 82%

“…In [10], the measurement range of the sensor covered a large range of high speeds from 50 • /s to 300 • /s, whereas the present study focused on low velocities giving a range of 1.5 • /s to 25 • /s, which is more than tenfold slower. In order to stay in the same range of ∆t, whose accuracy of measurement depends on the microcontroller's sampling frequency, we therefore had to narrow ∆ ϕ.…”

Section: % (Rmentioning

confidence: 94%

“…Insects are capable of impressive flying behavior thanks to the built-in abilities they have developed and improved over several hundred millions of years, despite their small size and hence limited neural resources. Based on the findings obtained at our Laboratory on the fly's visual sensory system [12], several versions of the 2-pixel Local Motion Sensor (LMS) [10,13,14,44,46] were developed, using an algorithm introduced by [5,39], which was later called the "time of travel scheme" (see [2,33]). Several visionbased systems have been previously designed to measure the optic flow onboard UAVs (Unmanned Aerial Vehicles) [8,19,22] and in particular in the range expe-rienced during lunar landing [20,28,52].…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Toward an Autonomous Lunar Landing Based on Low-Speed Optic Flow Sensors

Sabiron

Chavent

Burlion

et al. 2013

Advances in Aerospace Guidance, Navigation and Control

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For the last few decades, growing interest has returned to the quite challenging task of the autonomous lunar landing. Soft landing of payloads on the lunar surface requires the development of new means of ensuring safe descent with strong final conditions and aerospace-related constraints in terms of mass, cost and computational resources. In this paper, a two-phase approach is presented: first a biomimetic method inspired from the neuronal and sensory system of flying insects is presented as a solution to perform safe lunar landing. In order to design an autopilot relying only on optic flow (OF) and inertial measurements, an estimation method based on a two-sensor setup is introduced: these sensors allow us to accurately estimate the orientation of the velocity vector which is mandatory to control the lander's pitch in a quasi-optimal way with respect to the fuel consumption. Secondly a new low-speed Visual Motion Sensor (VMS) inspired by insects' visual systems performing local angular 1-D speed measurements ranging from 1.5 • /s to 25 • /s and weighing only 2.8 g is presented. It was tested under free-flying outdoor conditions over various fields onboard an 80 kg unmanned helicopter. These preliminary results show that the optic flow measured despite the complex disturbances encountered closely matched the ground-truth optic flow.

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Section: Free-flying Results With Ressacmentioning

confidence: 82%

Section: % (Rmentioning

confidence: 94%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Toward an Autonomous Lunar Landing Based on Low-Speed Optic Flow Sensors

Sabiron

Chavent

Burlion

et al. 2013

Advances in Aerospace Guidance, Navigation and Control

Self Cite

View full text Add to dashboard Cite

show abstract

“…A temporal resolution of 0.5ms is applied on the theoretical time lag ∆t in order to generate jitter in the OF measurements at high OF, as found to occur in physical robots' OF sensors [38]. The simulated LMS refreshes the OF measurements at a sampling rate of 12Hz: this average refresh rate was assessed during LMS characterization under good indoor lighting conditions [43]. A sine-law gradient (Eq.…”

Section: Local Motion Sensors On the Simulated Hovercraftmentioning

confidence: 99%

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

Serres

Ruffier

2015

J Bionic Eng

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Abstract.A bio-inspired autopilot is presented, in which body saccadic and intersaccadic systems are combined. This autopilot enables a simulated hovercraft to travel along corridors comprising L-junctions, U-shaped and Sshaped turns, relying on minimalistic motion vision cues alone without measuring its speed or distance from walls, in much the same way as flies and bees manage their flight in similar situations. The saccadic system responsible for avoiding frontal collisions triggers yaw body saccades with appropriately quantified angles based simply on a few local optic flow measurements, giving the angle of incidence with respect to a frontal wall. The simulated robot negotiates stiff bends by triggering body saccades to realign its trajectory, thus traveling parallel with the wall along a corridor comprising sharp turns. Direct comparison shows that the performance of this new body saccade-based autopilot closely resembles the behavior of a fly using similar body saccade strategy when flying along a corridor with an S-shaped turn, despite the huge differences in terms of the inertia.

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“…The sensor is located in front (i.e., the moving direction). Vision is used in many applications such as optical motion planning mapping [6], [8], or the motion sensors themselves [4], [3], [11].…”

Section: Concepts and Premisesmentioning

confidence: 99%

A Collision Control Strategy for Multiple Moving Robots

Kamkarian

Hexmoor

2013

Advances in Intelligent Systems and Computing

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Abstract. We present a solution to prevent collisions among robots that are moving toward their respective goals. A robot may start moving at any time from its station to its goal. For a moving robot, the probability of conflict increases proportionately to the complexity of other robots' respective routes. In terms of lowering possibilities of collision, a proper strategy for controlling robot behaviors before encounters is essential. Prior research presented a negotiation-based solution through a broadcasting method. In our solution, we assume robots are unable or unwilling to negotiate or broadcast data among one another. They should possess a strategy to detect and predict conflict zones, and hence determine strategies to avoid collisions independently.

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Outdoor field performances of insect‐based visual motion sensors

Cited by 35 publications

References 54 publications

Toward an Autonomous Lunar Landing Based on Low-Speed Optic Flow Sensors

Toward an Autonomous Lunar Landing Based on Low-Speed Optic Flow Sensors

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

A Collision Control Strategy for Multiple Moving Robots

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