Abstract
This article describes the robotic integration of a robust omnidirectional visual system with a control architecture inspired by neural structures in a rat’s brain. The visual system relies on an optimal recursive sampling of images into subimages that remains stable under translation and makes self-localization and object recognition possible. The control architecture affords navigation and action selection capacities. The operationality of both systems is demonstrated through a series of experiments assessing their capacity to maintain the energy level of a robot within the limits of a given viability zone.
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Lacheze, L., Benosman, R., Meyer, JA. (2008). Integration of an Omnidirectional Visual System with the Control Architecture of Psikharpax. In: Asada, M., Hallam, J.C.T., Meyer, JA., Tani, J. (eds) From Animals to Animats 10. SAB 2008. Lecture Notes in Computer Science(), vol 5040. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-69134-1_5
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DOI: https://doi.org/10.1007/978-3-540-69134-1_5
Publisher Name: Springer, Berlin, Heidelberg
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