View source for Sensorimotor Convergence in Visual Navigation and Flight Control Systems

{{HTDB paper
| authors = J. Sean Humbert, Richard M. Murray, Michael H. Dickinson
| title = Sensorimotor Convergence in Visual Navigation and Flight Control Systems
| source = Submitted, 2005 IFAC World Congress
| year = 2004
| type = Conference Paper
| funding = ARO/ICB, ABINS
| url = http://www.cds.caltech.edu/~murray/preprints/hmd05-ifac.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. Within the control-theoretic
framework presented here, a model for wide-field integration of retinal image flow
is developed which explains how various image flow kernels correspond to feedback
terms that stabilize the different modes of planar fiight. It is also demonstrated that
the proposed output feedback methodology is su±cient to explain experimentally
observed navigational heuristics as the centering and forward speed regulation
responses exhibited by honeybees.
| flags = 
| tag = hmd05-ifac
| id = 2004s
}}