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DOI	10.1109/TCYB.2021.3091127
	No Need for Landmarks: An Embodied Neural Controller for Robust Insect-Like Navigation Behaviors
	Xiong, Xiaofeng; Manoonpong, Poramate
通讯作者	Xiong, XF (corresponding author), Univ Southern Denmark, Embodied AI & Neurorobot Lab, Ctr Biorobot, Maersk Mc Kinney Moller Inst, DK-5230 Odense, Denmark.
来源期刊	IEEE TRANSACTIONS ON CYBERNETICS
ISSN	2168-2267
EISSN	2168-2275
出版年	2021-07
英文摘要	Bayesian filters have been considered to help refine and develop theoretical views on spatial cell functions for self-localization. However, extending a Bayesian filter to reproduce insect-like navigation behaviors (e.g., home searching) remains an open and challenging problem. To address this problem, we propose an embodied neural controller for self-localization, foraging, backward homing (BH), and home searching of an advanced mobility sensor (AMOS)-driven insect-like robot. The controller, comprising a navigation module for the Bayesian self-localization and goal-directed control of AMOS and a locomotion module for coordinating the 18 joints of AMOS, leads to its robust insect-like navigation behaviors. As a result, the proposed controller enables AMOS to perform robust foraging, BH, and home searching against various levels of sensory noise, compared to conventional controllers. Its implementation relies only on self-localization and heading perception, rather than global positioning and landmark guidance. Interestingly, the proposed controller makes AMOS achieve spiral searching patterns comparable to those performed by real insects. We also demonstrated the performance of the controller for real-time indoor and outdoor navigation in a real insect-like robot without any landmark and cognitive map.
英文关键词	Navigation Robot sensing systems Robots Robot kinematics Legged locomotion Insects Biological system modeling Backward homing (BH) foraging neural control path integration (PI) self-localization
类型	Article ; Early Access
语种	英语
收录类别	SCI-E
WOS记录号	WOS:000732255200001
WOS关键词	DUNG BEETLES USE ; PATH-INTEGRATION ; SYSTEMATIC SEARCH ; DESERT ANTS ; PATTERN ; CATAGLYPHIS ; LOCOMOTION ; MODEL
WOS类目	Automation & Control Systems ; Computer Science, Artificial Intelligence ; Computer Science, Cybernetics
WOS研究方向	Automation & Control Systems ; Computer Science
资源类型	期刊论文
条目标识符	http://119.78.100.177/qdio/handle/2XILL650/374581
作者单位	[Xiong, Xiaofeng] Univ Hamburg, Dept Informat, D-20146 Hamburg, Germany; [Xiong, Xiaofeng; Manoonpong, Poramate] Univ Southern Denmark, Embodied AI & Neurorobot Lab, Ctr Biorobot, Maersk Mc Kinney Moller Inst, DK-5230 Odense, Denmark; [Manoonpong, Poramate] Vidyasirimedhi Inst Sci & Technol, Bioinspired Robot & Neural Engn Lab, Rayong 21210, Thailand
推荐引用方式 GB/T 7714	Xiong, Xiaofeng,Manoonpong, Poramate. No Need for Landmarks: An Embodied Neural Controller for Robust Insect-Like Navigation Behaviors[J],2021.
APA	Xiong, Xiaofeng,&Manoonpong, Poramate.(2021).No Need for Landmarks: An Embodied Neural Controller for Robust Insect-Like Navigation Behaviors.IEEE TRANSACTIONS ON CYBERNETICS.
MLA	Xiong, Xiaofeng,et al."No Need for Landmarks: An Embodied Neural Controller for Robust Insect-Like Navigation Behaviors".IEEE TRANSACTIONS ON CYBERNETICS (2021).