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- A Control-Oriented Analysis of Bio-Inspired Visuomotor Convergence + (Insects exhibit unparalleled and incredibl … Insects exhibit unparalleled and incredibly robust </br>flight dynamics in the face of uncertainties. A fundamental principle contributing to this amazing behavior is rapid processing </br>and convergence of visual sensory information to flight motor </br>commands via spatial wide-field integration, accomplished by </br>motion pattern sensitive interneurons in the lobula plate portion </br>of the visual ganglia. Within a control-theoretic framework, a </br>model for wide-field integration of retinal image flow is developed, establishing the connection between image flow kernels </br>(retinal motion pattern sensitivities) and the feedback terms </br>they represent. It is demonstrated that the proposed output </br>feedback methodology is sufficient to give rise to experimentally </br>observed navigational heuristics as the centering and forward </br>speed regulation responses exhibited by honeybees.gulation responses exhibited by honeybees.)