Application of systems identification to the implementation of motion camouflage in mobile robots

Iñaki Rano, Roberto Iglesias

    Research output: Contribution to journalArticlepeer-review

    11 Citations (Scopus)
    132 Downloads (Pure)


    Motion camouflage is an animal stealth behaviour in which a shadower -- or predator -- moves in the vicinity of a shadowee -- or prey -- in such a way that the later perceives no apparent motion apart from the self motion. Despite some light has been shed on the control mechanism generating this pursuit strategy, it is not fully understood. Motion camouflage represents an interesting challenge in biological motion, and although simulated controllers can be found in the literature, no implementation on real robots has been done so far. This paper presents the first implementation of motion camouflage in real wheeled robots through a polynomial NARMAX model controller. The trajectories to adjust the model are generated using a heuristic approach. The NARMAX model outperforms the heuristic approach in terms of computational time and generates good camouflage trajectories in real robots and simulation. The transparency of polynomial models can also shed some light over this complex animal behaviour.
    Original languageEnglish
    Pages (from-to)229-244
    Number of pages16
    JournalAutonomous Robots
    Early online date4 Jul 2015
    Publication statusPublished (in print/issue) - 29 Feb 2016


    • Biorobotics
    • Motion camouflage
    • Mobile robots
    • Systems identification.


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