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An insect-based approach to robotic homing Weber, Keven, Venkatesh, Svetha and Srinivasan, M. V. 1998, An insect-based approach to robotic homing, in ICPR 1998 : Proceedings of the 14th International Conference on Pattern Recognition, IEEE, Los Alamitos, Calif., pp. 297-299. Attached Files Name Description MIMEType Size Downloads Title An insect-based approach to robotic homing Author(s) Weber, Keven Venkatesh, Svetha Srinivasan, M. V. Conference name International Conference on Pattern Recognition (14th : 1998 : Brisbane, Qld.) Conference location Brisbane, Qld. Conference dates 16-20 Aug. 1998 Title of proceedings ICPR 1998 : Proceedings of the 14th International Conference on Pattern Recognition Editor(s) Jain, Anil K. Venkatesh, Svetha Lovell, Brian Carrington Publication date 1998 Conference series International Conference on Pattern Recognition Start page 297 End page 299 Total pages 3 Publisher IEEE Place of publication Los Alamitos, Calif. Keyword(s) insect-based approach landmark apparent-size cues landmark avoidance panoramic views robotic homing vector summation technique visual homing Summary Many animals, including insects, successfully engage in visual homing. We describe a system that allows a mobile robot to home. Specifically we propose a simple extension to our original homing scheme which significantly improves its performance by incorporating a richer view of the environment. The addition of landmark apparent-size cues assists homing by providing a more robust homing vector as well as providing a simple and effective method of reinforcing landmark avoidance. The homing algorithm allows a mobile robot to incrementally home by moving in such a way as to gradually reduce the discrepancy between the current view and the view obtained from the home position. Both simulation and mobile robot experiments are used to demonstrate the feasibility of this approach. By matching the bearings of features extracted from panoramic views and using a vector summation technique to compute a homing vector we are able to provide a simple, parsimonious and robust robotic homing algorithm. ISBN 0818685131 Language eng Field of Research 089999 Information and Computing Sciences not elsewhere classified Socio Economic Objective 970108 Expanding Knowledge in the Information and Computing Sciences HERDC Research category E1.1 Full written paper - refereed Copyright notice ©1998, IEEE Persistent URL http://hdl.handle.net/10536/DRO/DU:30044874 Document type: Conference Paper Collection: School of Information Technology Related Links Link Description Connect to published version (restricted access) Go to link with your DU access privileges     Unless expressly stated otherwise, the copyright for items in DRO is owned by the author, with all rights reserved. Versions Version Filter Type Tue, 01 May 2012, 11:03:43 EST Wed, 09 May 2012, 13:17:41 EST Wed, 09 May 2012, 13:19:47 EST Tue, 24 Jun 2014, 08:50:35 EST Filtered Full Access Statistics: 30 Abstract Views, 1 File Downloads  -  Detailed Statistics Created: Tue, 01 May 2012, 11:03:42 EST

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