This article describes the robotic integration of a robust omnidirectional visual system with a control architecture inspired by neural structures in a rat's brain. The visual system relies on an optimal recursive sampling of images into subimages that remains stable under translation and makes self-localization and object recognition possible. The control architecture affords navigation and action selection capacities. The operationality of both systems is demonstrated through a series of experiments assessing their capacity to maintain the energy level of a robot within the limits of a given viability zone. © 2008 Springer-Verlag Berlin Heidelberg.
CITATION STYLE
Lacheze, L., Benosman, R., & Meyer, J. A. (2008). Integration of an omnidirectional visual system with the control architecture of Psikharpax. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 5040 LNAI, pp. 42–51). https://doi.org/10.1007/978-3-540-69134-1_5
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