View source for A Control-Oriented Analysis of Bio-Inspired Visuomotor Convergence

{{HTDB paper
| authors = J. Sean Humbert and Richard M. Murray and Michael H. Dickinson
| title = A Control-Oriented Analysis of Bio-Inspired Visuomotor Convergence
| source = 2005 Conference on Decision and Control (CDC)
| year = 2005
| type = Conference Paper
| funding = ARO/ICB
| url = http://www.cds.caltech.edu/~murray/preprints/hmd05-cdc.pdf
| abstract = 
 Insects exhibit unparalleled and incredibly robust 
flight dynamics in the face of uncertainties. A fundamental principle contributing to this amazing behavior is rapid processing 
and convergence of visual sensory information to flight motor 
commands via spatial wide-field integration, accomplished by 
motion pattern sensitive interneurons in the lobula plate portion 
of the visual ganglia. Within a control-theoretic framework, a 
model for wide-field integration of retinal image flow is developed, establishing the connection between image flow kernels 
(retinal motion pattern sensitivities) and the feedback terms 
they represent. It is demonstrated that the proposed output 
feedback methodology is sufficient to give rise to experimentally 
observed navigational heuristics as the centering and forward 
speed regulation responses exhibited by honeybees.
| flags = 
| tag = hmd05-cdc
| id = 2005k
}}