An optimal control strategy for two-dimensional motion camouflage with non-holonimic constraints

Ignacio Rano

    Research output: Contribution to journalArticle

    4 Citations (Scopus)


    Motion camouflage is a stealth behaviour observed both in hover-flies and in dragonflies. Existing controllers for mimicking motion camouflage generate this behaviour on an empirical basis or without considering the kinematic motion restrictions present in animal trajectories. This study summarises our formal contributions to solve the generation of motion camouflage as a non-linear optimal control problem. The dynamics of the system capture the kinematic restrictions to motion of the agents, while the performance index ensures camouflage trajectories. An extensive set of simulations support the technique, and a novel analysis of the obtained trajectories contributes to our understanding of possible mechanisms to obtain sensor based motion camouflage, for instance, in mobile robots.
    Original languageEnglish
    Pages (from-to)261-270
    JournalBiological Cybernetics
    Issue number4-5
    Publication statusPublished - 31 May 2012


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