A bio-plausible design for visual attitude stabilization
Abstract
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.
Additional Information
© 2009 IEEE. This work was supported in part by the US Army Institute for Collaborative Biotechnology (ICB) and the Boeing Corporation. The authors wish to thank Andrew Straw for his assistance and encouragement.Attached Files
Published - 05400408.pdf
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Additional details
- Eprint ID
- 94063
- Resolver ID
- CaltechAUTHORS:20190322-132458437
- Army Research Office (ARO)
- Boeing Corporation
- Created
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2019-03-22Created from EPrint's datestamp field
- Updated
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2021-11-16Created from EPrint's last_modified field