Mobile robot employing insect strategies for navigation

Robotics and Autonomous Systems

Volumn 30, Issue 1, 2000, Pages 39-64

  Lambrinos, Dimitrios ^a   Möller, Ralf ^a   Labhart, Thomas ^a   Pfeifer, Rolf ^a   Wehner, Rüdiger ^a  

^a UNIVERSITY OF ZURICH   (Switzerland)

Author keywords

[No Author keywords available]

Indexed keywords

COLLISION AVOIDANCE; COMPUTATIONAL METHODS; COMPUTER VISION; MOTION PLANNING; PRECISION ENGINEERING; ROBOTICS;

POLARIZATION VISIONS; ROBOT NAVIGATION; VISUAL LANDMARK NAVIGATIONS;

MOBILE ROBOTS;

EID: 0343517601     PISSN: 09218890     EISSN: None     Source Type: Journal    
DOI: 10.1016/S0921-8890(99)00064-0     Document Type: Article

References (57)

1. B. Barshan, H.F. Durrant-Whyte, Orientation estimate for mobile robots using gyroscopic information, in: Proceedings of the International Conference on Intelligent Robots and Systems (IROS 94), 1994, pp. 1867-1874.
2. Barshan B., Durrant-Whyte H.F. Inertial navigation systems for mobile robots. Transactions on Robotics and Automation. 11:1995;328-342.
3. S.L. Bartlett, A. Hampapur, M.J. Huber, D. Kortenkamp, S. Moezzi, Vision for mobile robots, in: J. Sanz (Ed.), Advances in Image Processing and Machine Vision, Springer, Berlin, 1995, pp. 1-117.
4. Bernard G.D., Wehner R. Functional similarities between polarization vision and color vision. Vision Research. 17:1977;1019-1028.
5. J. Borenstein, H.R. Everett, L. Feng, "Where am I?" Sensors and methods for mobile robot positioning, Technical Report, University of Michigan, 1996.
6. Cartwright B.A., Collett T.S. Landmark learning in bees. Journal of Comparative Physiology. 151:1983;521-543.
7. Cartwright B.A., Collett T.S. Landmark maps for honeybees. Biological Cybernetics. 57:1987;85-93.
8. R. Cassinis, D. Grana, A. Rizzi, Using colour information in an omnidirectional perception system for autonomous robot localization, in: Proceedings of the First Euromicro Workshop on Advanced Mobile Robots (EUROBOT '96), Los Alamitos, CA, 9-11 October 1996, IEEE Computer Society Press, Silver Spring, MD, 1996.
9. Chahl J.S., Srinivasan M.V. Visual computation of egomotion using an image interpolation technique. Biological Cybernetics. 74:1996;405-411.
10. Chahl J.S., Srinivasan M.V. Reflective surfaces for panoramic imaging. Applied Optics. 36(31):1997;8275-8285.
11. Collett M., Collett T.S., Bisch S., Wehner R. Local and global vectors in desert ant navigation. Nature. 394:1998;269-272.
12. Collett T.S., Baron J. Biological compasses and the coordinate frame of landmark memories in honeybees. Nature. 368:1994;137-140.
13. T. Consi, J. Atema, J. Cho, C. Chryssostomidis, AUV guidance with chemical signals, in: Proceedings of the IEEE Symposium on Autonomous Underwater Vehicle Technology, Cambridge, MA, 19-20 July 1994, pp. 3-9.
14. Cruse H., Bartling Ch., Cymbalyuk G., Dean J., Dreifert M. A modular artificial neural net for controlling a six-legged walking system. Biological Cybernetics. 72:1995;421-430.
15. H. Cruse, Ch. Bartling, J. Dean, T. Kindermann, J. Schmitz, M. Schumm, H. Wagner, Coordination in a six-legged walking system. Simple solutions to complex problems by exploitation of physical properties, in: Proceedings of the Fourth International Conference on Simulation of Adaptive Behavior, From Animals to Animats (SAB96), Cape Cod, MA, 1996, pp. 84-93.
16. F.C. Dyer, J.A. Dickinson, Development of sun compensation by honey bees: How partially experienced bees estimate the sun's course, Proceedings of the National Academy of Science, USA 91 (1994) 4471-4474.
17. N. Franceschini, J.M. Pichon, C. Blanes, From insect vision to robot vision, Philosophical Transactions of the Royal Society of London 337 (1992) 283-294.
18. Franz M.O., Schölkopf B., Mallot H.A., Bülthoff H.H. Learning view graphs for robot navigation. Autonomous Robots. 5:1998;111-125.
19. Franz M.O., Schölkopf B., Mallot H.A., Bülthoff H.H. Where did I take that snapshot? Scene-based homing by image matching. Biological Cybernetics. 79:1998;191-202.
20. P. Gaussier, C. Joulain, S. Zrehen, J.P. Banquet, A. Revel, Visual navigation in an open environment without map, in: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS-97) 1997, pp. 545-550.
21. F. Grasso, T. Consi, D. Mountain, J. Atema, Locating odor sources in turbulence with a lobster inspired robot, in: Proceedings of the Fourth International Conference on Simulation of Adaptive Behavior, From Animals to Animats (SAB96), Cape Cod, MA, 1996, pp. 104-112.
22. Hartmann G., Wehner R. The ant's path integration system: A neural architecture. Biological Cybernetics. 73(6):1995;483-493.
23. J. Hong, X. Tan, B. Pinette, R. Weiss, E.M. Riseman, Image-based homing, IEEE Control Systems (February 1992) 104-112.
24. Judd S.P.D., Collett T.S. Multiple stored views and landmark guidance in ants. Nature. 392:1998;710-714.
25. D. Kortenkamp, Cognitive maps for mobile robots: A representation for mapping and navigation, PhD thesis, The University of Michigan, 1993.
26. B. J. Kuipers, Y. T. Byun, A robust, qualitative method for robot spatial learning, in: Proceedings of the 7th National Conference on Artificial Intelligence (AAAI-88), St. Paul, MN, Morgan Kaufmann, Los Altos, CA, 1988, pp. 774-779.
27. Labhart T. Polarization-opponent interneurons in the insect visual system. Nature. 331:1988;435-437.
28. T. Labhart, Unpublished results, 1998.
29. Lambrinos D., Maris M., Kobayashi H., Labhart T., Pfeifer R., Wehner R. An autonomous agent navigating with a polarized light compass. Adaptive Behavior. 6(1):1997;131-161.
30. Lindauer M. Angeborene und erlernte Komponenten in der Sonnenorientierung der Bienen. Zeitschrift für vergleichende Physiologie. 42:1959;43-62.
31. H. Lund, B. Webb, J. Hallam, A robot attracted to the cricket species gryllus bimaculatus, in: Proceedings of the Fourth European Conference on Artificial Life, 1997, pp. 131-140.
32. L. Matthies, E. Gat, R. Harrison, Mars microrover navigation: Performance evaluation and enhancement, Technical Report 95-0096, Jet Propulsion Laboratory, NASA, Pasadena, CA, 1995.
33. R. Möller, M. Maris, D. Lambrinos, A neural model of landmark navigation in insects, Neurocomputing 26-27 (1999) 801-808.
34. Müller M., Wehner R. Path integration in desert ants, Cataglyphis fortis. Proceedings of the National Academy of Science Neurobiology. 85:1988;5287-5290.
35. R.C. Nelson, Visual homing using an associative memory, in: Proceedings of the Image Understanding Workshop, Morgan Kaufmann, Palo Alto, CA, May 1989, pp. 245-262.
36. J. O'Keefe, The hippocampal cognitive map and navigational strategies, in: J. Paillard (Ed.), Brain and Space, Oxford University Press, Oxford, 1991, Chapter 16, pp. 273-295.
37. R. Pfeifer, Building "fungus eaters": Design principles of autonomous agents, in: Proceedings of the Fourth International Conference on Simulation of Adaptive Behavior, From Animals to Animats (SAB96), Cape Cod, MA, 1996, pp. 3-12.
38. Srinivasan M.V. An image-interpolation technique for the computation of optic flow and egomotion. Biological Cybernetics. 71:1994;401-416.
39. Srinivasan M.V., Chahl J.S., Zhang S.W. Robot navigation by visual dead-reckoning: Inspiration from insects. International Journal of Pattern Recognition and Artificial Intelligence. 11(1):1997;35-47.
40. H. Vitzthum, Der Zentralkomplex der Heuschrecke Schistocerca gregaria: Ein mögliches Zentrum des Polarisationssehsystems, PhD thesis, Universität Regensburg, 1997.
41. B. Webb, Robotic experiments in cricket phonotaxis, in: Proceedings of the Third International Conference on Simulation of Adaptive Behavior, From Animals to Animats 3 (SAB94), MIT Press, Cambridge, MA, 1994, pp. 45-54.
42. B. Webb, Biological orientation systems for mobile robots, in: Proceedings of the International Conference on Recent Advances in Mechatronics, 1995.
43. B. Webb, Using robots to model animals: A cricket test, Robotics and Autonomous Systems 16 (2-4) (1995) 117-134.
44. Webb B. A cricket robot. Scientific American. 275(6):1996;94-99.
45. B. Webb, J. Hallam, How to attract females: Further robotic experiments in cricket phonotaxis, in: Proceedings of the Fourth International Conference on Simulation of Adaptive Behavior, From Animals to Animats 4 (SAB96), Cape Cod, MA, MIT Press, Cambridge, MA, 1996, pp. 75-83.
46. Wehner R. Himmelsnavigation bei Insekten. Neurophysiologie und Verhalten. Neujahrbl. Naturforsch. Ges. Zürich. 184:1982;1-132.
47. R. Wehner, Spatial organization of foraging behavior in individually searching desert ants, Cataglyphis (Sahara desert) and Ocymyrmex (Namib desert), in: J.M. Pasteels, J.L. Deneubourg (Eds.), From Individual to Collective Behavior in Social Insects, Birkhäuser, Basel, 1987, pp. 15-42.
48. R. Wehner, Arthropods, in: F. Papi (Ed.), Animal Homing, Chapman and Hall Animal Behaviour Series, Chapman and Hall, London, 1992, Chapter 3, pp. 45-127.
49. R. Wehner, The polarization-vision project: Championing organismic biology, in: K. Schildberger, N. Elsner (Eds.), Neural Basis of Behavioural Adaptations, Gustav Fischer Verlag, Stuttgart, 1994, pp. 103-143.
50. R. Wehner, The ant's celestial compass system: Spectral and polarization channels, Orientation and Communication in Arthropods, Birkhäuser, Basel, 1997, pp. 145-185.
51. Wehner R., Lanfranconi B. What do the ants know about the rotation of the sky? Nature. 293:1981;731-773.
52. Wehner R., Michel B., Antonsen P. Visual navigation in insects: Coupling of egocentric and geocentric information. Journal of Experimental Biology. 199:1996;129-140.
53. R. Wehner, M. Müller, How do ants acquire their celestial ephemeris function? Naturwissenschaften 331-333 (1993) 4471-4474.
54. Wehner R., Räber F. Visual spatial memory in desert ants, Cataglyphis bicolor (Hymenoptera: Formicidae). Experientia. 35:1979;1569-1571.
55. R. Wehner, S. Wehner, Path integration in desert ants. Approaching a long-standing puzzle in insect navigation, Monitore Zool. Ital. (N.S.) 20 (1986) 309-331.
56. Wehner R., Wehner S. Insect navigation: Use of maps or Ariadne's thread? Ethology, Ecology and Evolution. 2:1990;27-48.
57. Y. Yagi, M. Yachida, Real-time generation of environment map and obstacle avoidance using omnidirectional image sensor with conic mirror, in: Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition, May 1991, pp. 160-165.