Application of Systems Identification to the Implementation of Motion Camouflage in Mobile Robots

Ignacio Rano, Roberto Iglesias

Research output: Contribution to journalArticle

3 Citations (Scopus)

Abstract

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.
LanguageEnglish
JournalAutonomous Robots
Volume39
DOIs
Publication statusPublished - 2015

Fingerprint

Camouflage
Mobile robots
Identification (control systems)
Robots
Animals
Trajectories
Controllers
Transparency
Statistical Models

Keywords

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

Cite this

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title = "Application of Systems Identification to the Implementation of Motion Camouflage in Mobile Robots",
abstract = "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.",
keywords = "Biorobotics, Motion camouflage, Mobile robots, Systems identification.",
author = "Ignacio Rano and Roberto Iglesias",
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volume = "39",
journal = "Autonomous Robots",
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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 journalArticle

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T1 - Application of Systems Identification to the Implementation of Motion Camouflage in Mobile Robots

AU - Rano, Ignacio

AU - Iglesias, Roberto

PY - 2015

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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.

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