Paper Info
Title
Vision-based navigation from wheels to wings
Abstract
We describe an incremental approach towards the development of autonomous indoor flyers that use only vision to navigate in textured environments. In order to cope with the severe weight and energy constraints of such systems, we use spiking neural controllers that can be implemented in tiny micro-controllers and map visual information into motor commands. The network morphology is evolved by means of an evolutionary process on the physical robots. This methodology is tested in three robots of increasing complexity, from a wheeled robot to a dirigible to a winged robot. The paper describes the approach, the robots, their degrees of complexity, and summarizes results. In addition, three compatible electronic boards and a choice of vision sensors suitable for these robots are described in more details. These boards allow a comparative and gradual development of spiking neural controllers for flying robots.
Year
DOI
Venue
2003
10.1109/IROS.2003.1249322
IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference
Keywords
Field
DocType
aerospace robotics,image sensors,microcontrollers,neurocontrollers,robot vision,autonomous indoor flyers,compatible electronic boards,complexity,energy constraints,evolutionary process,flying robots,gradual development,map visual information,microcontrollers,motor commands,network morphology,physical robots,spiking neural controllers,textured environments,vision based navigation,vision sensors,wheeled robot,wheels,winged robot,wings
Computer vision,Social robot,Robot control,Evolutionary robotics,Computer science,Personal robot,Control engineering,Robot locomotion,Artificial intelligence,Mobile robot navigation,Robot,Mobile robot
Conference
Volume
ISBN
Citations 
3
0-7803-7860-1
8
PageRank 
References 
Authors
5.85
7
3
Name
Order
Citations
PageRank
Jean-Christophe Zufferey146746.55
Antoine Beyeler217317.54
Dario Floreano33400284.98