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A Biomimetic Neuronal Network-Based Controller for Guided Helicopter Flight

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Biomimetic and Biohybrid Systems (Living Machines 2013)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 8064))

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Abstract

As part of the Robobee project, we have modified a coaxial helicopter to operate using a discrete time map-based neuronal network for the control of heading, altitude, yaw, and odometry. Two concepts are presented: 1. A model for the integration of sensory data into the neural network. 2. A function for transferring the instantaneous spike frequency of motor neurons to a pulse width modulated signal required to drive motors and other types of actuators. The helicopter is provided with a flight vector and distance to emulate the information conveyed by the honeybee’s waggle dance. This platform allows for the testing of proposed networks for adaptive navigation in an effort to simulate honeybee foraging on a flying robot.

Supported by NSF ITR Expeditions Grant 0925751.

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Author information

Authors and Affiliations

  1. Depts. of Marine and Environmental Sciences, Biology, and Marine Science Center, Northeastern University, Nahant, MA, 01908, USA

    Anthony Westphal, Daniel Blustein & Joseph Ayers

Authors
  1. Anthony Westphal
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  2. Daniel Blustein
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  3. Joseph Ayers
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Editor information

Editors and Affiliations

  1. University of Sheffield, UK

    Nathan F. Lepora  & Tony J. Prescott  & 

  2. University of Pompeau Fabra, Barcelona, Spain

    Anna Mura

  3. Imperial College, London, UK

    Holger G. Krapp

  4. Catalan Institution for Research and Advanced Studies, University of Pompeau Fabra, Barcelona, Spain

    Paul F. M. J. Verschure

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Westphal, A., Blustein, D., Ayers, J. (2013). A Biomimetic Neuronal Network-Based Controller for Guided Helicopter Flight. In: Lepora, N.F., Mura, A., Krapp, H.G., Verschure, P.F.M.J., Prescott, T.J. (eds) Biomimetic and Biohybrid Systems. Living Machines 2013. Lecture Notes in Computer Science(), vol 8064. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-39802-5_26

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  • DOI: https://doi.org/10.1007/978-3-642-39802-5_26

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-39801-8

  • Online ISBN: 978-3-642-39802-5

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