Using the neural circuit of the insect central complex for path integration on a micro aerial vehicle

Jan Stankiewicz; Barbara Webb

doi:10.1007/978-3-030-64313-3_31

Using the neural circuit of the insect central complex for path integration on a micro aerial vehicle

Jan Stankiewicz^*, Barbara Webb

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

We have deployed an anatomically constrained neural model for path integration on a real world, holonomic aerial platform. Based on the insect central complex, the model combines estimated heading and ground speed information to maintain a location estimate that can be used to steer the agent directly home after convoluted outward journeys. We implement a biologically plausible method to estimate ground speed using optical flow. We discover that a downward viewing, mechanically stabilised and height compensated vision system performs well in a range of natural environments, even when visual acuity is reduced to 3°/pixel. In a flat outdoor environment, the worst case final displacement error increases at a rate 1.5m 100m outbound travel. The field of view of the vision system has no impact on odometry performance.

Original language	English
Title of host publication	Biomimetic and Biohybrid Systems - 9th International Conference, Living Machines 2020, Proceedings
Editors	Vasiliki Vouloutsi, Anna Mura, Paul F. M. J. Verschure, Falk Tauber, Thomas Speck, Tony J. Prescott
Publisher	Springer
Pages	325-337
Number of pages	13
ISBN (Print)	9783030643126
DOIs	https://doi.org/10.1007/978-3-030-64313-3_31
Publication status	Published - 23 Dec 2021
Event	9th International Conference on Biomimetic and Biohybrid Systems, Living Machines 2020 - Virtual, Online Duration: 28 Jul 2019 → 30 Jul 2019

Publication series

Name	Lecture Notes in Computer Science
Publisher	Springer Cham
Volume	12413
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Conference

Conference	9th International Conference on Biomimetic and Biohybrid Systems, Living Machines 2020
City	Virtual, Online
Period	28/07/19 → 30/07/19

Keywords / Materials (for Non-textual outputs)

Bio-mimetic
Central complex
Computer vision
MAV

Access to Document

10.1007/978-3-030-64313-3_31Licence: All Rights Reserved

https://link.springer.com/chapter/10.1007/978-3-030-64313-3_31Licence: All Rights Reserved

Cite this

Stankiewicz, J., & Webb, B. (2021). Using the neural circuit of the insect central complex for path integration on a micro aerial vehicle. In V. Vouloutsi, A. Mura, P. F. M. J. Verschure, F. Tauber, T. Speck, & T. J. Prescott (Eds.), Biomimetic and Biohybrid Systems - 9th International Conference, Living Machines 2020, Proceedings (pp. 325-337). (Lecture Notes in Computer Science; Vol. 12413). Springer. https://doi.org/10.1007/978-3-030-64313-3_31

Stankiewicz, Jan ; Webb, Barbara. / Using the neural circuit of the insect central complex for path integration on a micro aerial vehicle. Biomimetic and Biohybrid Systems - 9th International Conference, Living Machines 2020, Proceedings. editor / Vasiliki Vouloutsi ; Anna Mura ; Paul F. M. J. Verschure ; Falk Tauber ; Thomas Speck ; Tony J. Prescott. Springer, 2021. pp. 325-337 (Lecture Notes in Computer Science).

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abstract = "We have deployed an anatomically constrained neural model for path integration on a real world, holonomic aerial platform. Based on the insect central complex, the model combines estimated heading and ground speed information to maintain a location estimate that can be used to steer the agent directly home after convoluted outward journeys. We implement a biologically plausible method to estimate ground speed using optical flow. We discover that a downward viewing, mechanically stabilised and height compensated vision system performs well in a range of natural environments, even when visual acuity is reduced to 3°/pixel. In a flat outdoor environment, the worst case final displacement error increases at a rate 1.5m 100m outbound travel. The field of view of the vision system has no impact on odometry performance.",

keywords = "Bio-mimetic, Central complex, Computer vision, MAV",

author = "Jan Stankiewicz and Barbara Webb",

note = "Funding Information: Supported by the Edinburgh Centre for Robotics and the Engineering and Physical Sciences Research Council. We thank Stanley Heinze who provided the neural data and the initial illustration for Fig. 3. Thanks also to Jiale Lu for his initial work. Publisher Copyright: {\textcopyright} Springer Nature Switzerland AG 2020.; 9th International Conference on Biomimetic and Biohybrid Systems, Living Machines 2020 ; Conference date: 28-07-2019 Through 30-07-2019",

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doi = "10.1007/978-3-030-64313-3_31",

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Stankiewicz, J & Webb, B 2021, Using the neural circuit of the insect central complex for path integration on a micro aerial vehicle. in V Vouloutsi, A Mura, PFMJ Verschure, F Tauber, T Speck & TJ Prescott (eds), Biomimetic and Biohybrid Systems - 9th International Conference, Living Machines 2020, Proceedings. Lecture Notes in Computer Science, vol. 12413, Springer, pp. 325-337, 9th International Conference on Biomimetic and Biohybrid Systems, Living Machines 2020, Virtual, Online, 28/07/19. https://doi.org/10.1007/978-3-030-64313-3_31

Using the neural circuit of the insect central complex for path integration on a micro aerial vehicle. / Stankiewicz, Jan; Webb, Barbara.
Biomimetic and Biohybrid Systems - 9th International Conference, Living Machines 2020, Proceedings. ed. / Vasiliki Vouloutsi; Anna Mura; Paul F. M. J. Verschure; Falk Tauber; Thomas Speck; Tony J. Prescott. Springer, 2021. p. 325-337 (Lecture Notes in Computer Science; Vol. 12413).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

TY - GEN

T1 - Using the neural circuit of the insect central complex for path integration on a micro aerial vehicle

AU - Stankiewicz, Jan

AU - Webb, Barbara

N1 - Funding Information: Supported by the Edinburgh Centre for Robotics and the Engineering and Physical Sciences Research Council. We thank Stanley Heinze who provided the neural data and the initial illustration for Fig. 3. Thanks also to Jiale Lu for his initial work. Publisher Copyright: © Springer Nature Switzerland AG 2020.

PY - 2021/12/23

Y1 - 2021/12/23

N2 - We have deployed an anatomically constrained neural model for path integration on a real world, holonomic aerial platform. Based on the insect central complex, the model combines estimated heading and ground speed information to maintain a location estimate that can be used to steer the agent directly home after convoluted outward journeys. We implement a biologically plausible method to estimate ground speed using optical flow. We discover that a downward viewing, mechanically stabilised and height compensated vision system performs well in a range of natural environments, even when visual acuity is reduced to 3°/pixel. In a flat outdoor environment, the worst case final displacement error increases at a rate 1.5m 100m outbound travel. The field of view of the vision system has no impact on odometry performance.

AB - We have deployed an anatomically constrained neural model for path integration on a real world, holonomic aerial platform. Based on the insect central complex, the model combines estimated heading and ground speed information to maintain a location estimate that can be used to steer the agent directly home after convoluted outward journeys. We implement a biologically plausible method to estimate ground speed using optical flow. We discover that a downward viewing, mechanically stabilised and height compensated vision system performs well in a range of natural environments, even when visual acuity is reduced to 3°/pixel. In a flat outdoor environment, the worst case final displacement error increases at a rate 1.5m 100m outbound travel. The field of view of the vision system has no impact on odometry performance.

KW - Bio-mimetic

KW - Central complex

KW - Computer vision

KW - MAV

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DO - 10.1007/978-3-030-64313-3_31

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T3 - Lecture Notes in Computer Science

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BT - Biomimetic and Biohybrid Systems - 9th International Conference, Living Machines 2020, Proceedings

A2 - Vouloutsi, Vasiliki

A2 - Mura, Anna

A2 - Verschure, Paul F. M. J.

A2 - Tauber, Falk

A2 - Speck, Thomas

A2 - Prescott, Tony J.

PB - Springer

T2 - 9th International Conference on Biomimetic and Biohybrid Systems, Living Machines 2020

Y2 - 28 July 2019 through 30 July 2019

ER -

Stankiewicz J, Webb B. Using the neural circuit of the insect central complex for path integration on a micro aerial vehicle. In Vouloutsi V, Mura A, Verschure PFMJ, Tauber F, Speck T, Prescott TJ, editors, Biomimetic and Biohybrid Systems - 9th International Conference, Living Machines 2020, Proceedings. Springer. 2021. p. 325-337. (Lecture Notes in Computer Science). doi: 10.1007/978-3-030-64313-3_31

Using the neural circuit of the insect central complex for path integration on a micro aerial vehicle

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