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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.

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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.
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
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
Collections: School of Information Technology
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