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Application of Systems Identification to the Implementation of Motion Camouflage in Mobile Robots

Rano, Ignacio and Iglesias, Roberto (2015) Application of Systems Identification to the Implementation of Motion Camouflage in Mobile Robots. Autonomous Robots, 39 . [Journal article]

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DOI: 10.1007/s10514-015-9449-9

Abstract

Motion camouflage is an animal stealth behaviour in which a shadower -- or predator -- moves in the vicinity of a shadowee -- or prey -- in such a way that the later perceives no apparent motion apart from the self motion. Despite some light has been shed on the control mechanism generating this pursuit strategy, it is not fully understood. Motion camouflage represents an interesting challenge in biological motion, and although simulated controllers can be found in the literature, no implementation on real robots has been done so far. This paper presents the first implementation of motion camouflage in real wheeled robots through a polynomial NARMAX model controller. The trajectories to adjust the model are generated using a heuristic approach. The NARMAX model outperforms the heuristic approach in terms of computational time and generates good camouflage trajectories in real robots and simulation. The transparency of polynomial models can also shed some light over this complex animal behaviour.

Item Type:Journal article
Keywords:Biorobotics, Motion camouflage, Mobile robots, Systems identification.
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 > Intelligent Systems Research Centre
Computer Science Research Institute
ID Code:32062
Deposited By: Dr Ignacio Rano
Deposited On:10 Jul 2015 11:57
Last Modified:17 Oct 2017 16:19

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