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A systematic analysis of the Braitenberg vehicle 2b for point-like stimulus sources

Rano, Ignacio (2012) A systematic analysis of the Braitenberg vehicle 2b for point-like stimulus sources. BIOINSPIRATION & BIOMIMETICS, 7 (3). pp. 1-14. [Journal article]

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DOI: 10.1088/1748-3182/7/3/036015


Braitenberg vehicles have been used experimentally for decades in robotics with limited empirical understanding. This paper presents the first mathematical model of the vehicle 2b, displaying so-called aggression behaviour, and analyses the possible trajectories for point-like smooth stimulus sources. This sensory-motor steering control mechanism is used to implement biologically grounded target approach, target-seeking or obstacle-avoidance behaviour. However, the analysis of the resulting model reveals that complex and unexpected trajectories can result even for point-like stimuli. We also prove how the implementation of the controller and the vehicle morphology interact to affect the behaviour of the vehicle. This work provides a better understanding of Braitenberg vehicle 2b, explains experimental results and paves the way for a formally grounded application on robotics as well as for a new way of understanding target seeking in biology.

Item Type:Journal article
Faculties and Schools:Faculty of Computing & Engineering
Faculty of Computing & Engineering > School of Computing and Intelligent Systems
Research Institutes and Groups:Computer Science Research Institute
ID Code:27296
Deposited By: Dr Ignacio Rano
Deposited On:30 Sep 2013 08:54
Last Modified:09 Dec 2015 11:15

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