Journal ArticleDOI
How honeybees make grazing landings on flat surfaces
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TLDR
It is shown that, during landing, the bee decelerates continuously and in such a way as to keep the projected time to touchdown constant as the surface is approached, which reflects a surprisingly simple and effective strategy for achieving a smooth landing.Abstract:
Freely flying bees were filmed as they landed on a flat, horizontal surface, to investigate the underlying visuomotor control strategies. The results reveal that (1) landing bees approach the surface at a relatively shallow descent angle; (2) they tend to hold the angular velocity of the image of the surface constant as they approach it; and (3) the instantaneous speed of descent is proportional to the instantaneous forward speed. These characteristics reflect a surprisingly simple and effective strategy for achieving a smooth landing, by which the forward and descent speeds are automatically reduced as the surface is approached and are both close to zero at touchdown. No explicit knowledge of flight speed or height above the ground is necessary. A model of the control scheme is developed and its predictions are verified. It is also shown that, during landing, the bee decelerates continuously and in such a way as to keep the projected time to touchdown constant as the surface is approached. The feasibility of this landing strategy is demonstrated by implementation in a robotic gantry equipped with vision.read more
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Journal ArticleDOI
Algorithms for collision-free navigation of mobile robots in complex cluttered environments: a survey
TL;DR: Methods applicable to stationary obstacles, moving obstacles and multiple vehicles scenarios are reviewed, and particular attention is given to reactive methods based on local sensory data, with a special focus on recently proposed navigation laws based on model predictive and sliding mode control.
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Landing a VTOL Unmanned Aerial Vehicle on a Moving Platform Using Optical Flow
TL;DR: A nonlinear controller for a vertical take-off and landing (VTOL) unmanned aerial vehicle (UAV) that exploits a measurement optical flow to enable hover and landing control on a moving platform, such as, for example, the deck of a sea-going vessel is presented.
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Fly-inspired visual steering of an ultralight indoor aircraft
TL;DR: Models and algorithms which allow for efficient course stabilization and collision avoidance using optic flow and inertial information are described.
Journal ArticleDOI
Honeybees as a model for the study of visually guided flight, navigation, and biologically inspired robotics.
TL;DR: This review begins by describing the principles of visual guidance that underlie perception of the world in three dimensions, obstacle avoidance, control of flight speed, and orchestrating smooth landings, and considers how navigation over long distances is accomplished.
Journal ArticleDOI
Path integration in insects.
TL;DR: A new understanding of how the honeybee measures the distance that it travels during its foraging trips is found, and data from two groups show that the bee's odometer records distance in terms of the net amount of image motion over the retina that is accumulated during a flight.