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, doi: 10.1109/ICPR.1998.711140. Attached Files Name Description MIMEType Size Downloads venkatesh-aninsect-1998.pdf Published version application/pdf 183.27KB 51 Title An insect-based approach to robotic homing Author(s) Weber, Keven Venkatesh, Svetha orcid.org/0000-0001-8675-6631 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. Notes This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. In most cases, these works may not be reposted without the explicit permission of the copyright holder. ISBN 0818685131 9780818685132 Language eng DOI 10.1109/ICPR.1998.711140 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 Free to Read? Yes Persistent URL http://hdl.handle.net/10536/DRO/DU:30044874 Document type: Conference Paper Collections: School of Information Technology Open Access Collection 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. Every reasonable effort has been made to ensure that permission has been obtained for items included in DRO. If you believe that your rights have been infringed by this repository, please contact drosupport@deakin.edu.au. 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 Wed, 06 Aug 2014, 16:00:10 EST Mon, 15 Sep 2014, 15:59:14 EST Tue, 06 Sep 2016, 18:52:55 EST Tue, 05 Dec 2017, 12:32:08 EST Filtered Full Citation counts:   Cited 0 times in TR Web of Science Cited 0 times in Scopus Search Google Scholar Access Statistics: 296 Abstract Views, 49 File Downloads  -  Detailed Statistics Created: Tue, 01 May 2012, 11:03:42 EST

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