Abstract
| Language | English |
|---|---|
| Journal | Autonomous Robots |
| Volume | 39 |
| DOIs | |
| Publication status | Published - 2015 |
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Keywords
- Biorobotics
- Motion camouflage
- Mobile robots
- Systems identification.
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Application of Systems Identification to the Implementation of Motion Camouflage in Mobile Robots. / Rano, Ignacio; Iglesias, Roberto.
In: Autonomous Robots, Vol. 39, 2015.Research output: Contribution to journal › Article
TY - JOUR
T1 - Application of Systems Identification to the Implementation of Motion Camouflage in Mobile Robots
AU - Rano, Ignacio
AU - Iglesias, Roberto
PY - 2015
Y1 - 2015
N2 - 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.
AB - 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.
KW - Biorobotics
KW - Motion camouflage
KW - Mobile robots
KW - Systems identification.
U2 - 10.1007/s10514-015-9449-9
DO - 10.1007/s10514-015-9449-9
M3 - Article
VL - 39
JO - Autonomous Robots
T2 - Autonomous Robots
JF - Autonomous Robots
SN - 0929-5593
ER -