Mitchinson, B., Pearson, M.J., Pipe, A.G. et al. (1 more author) (2012) Predictive prey pursuit in a whiskered robot. In: Herrmann, G., Studley, M., Pearson, M., Conn, A., Melhuish, C., Witkowski, M., Kim, J.-H. and Vadakkepat, P., (eds.) Advances in Autonomous Robotics. 13th TAROS: Conference Towards Autonomous Robotic Systems, 20-23 Aug 2012, Bristol, UK. Lecture Notes in Computer Science (7429). Springer , pp. 343-353. ISBN 9783642325267
Abstract
Highly active small mammals need to capture prey rapidly and with a high success rate if they are to survive. We consider the case of the Etruscan shrew, which hunts prey including crickets almost as large as itself, and relies on its whiskers (vibrissae) to complete a kill. We model this hunting behaviour using a whiskered robot. Shrews strike rapidly and accurately after gathering very limited sensory information; we attempt to match this performance by using model-based simultaneous discrimination and localisation of a ‘prey’ robot (i.e. by using strong priors). We report performance that is comparable, given the spatial and temporal scale differences, to shrew performance in most respects.
Metadata
Item Type: | Proceedings Paper |
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Authors/Creators: |
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Editors: |
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Copyright, Publisher and Additional Information: | © 2012 Springer-Verlag. This is an author-produced version of a paper subsequently published in LNCS. Uploaded in accordance with the publisher's self-archiving policy. |
Keywords: | Mobile Robot; Superior Colliculus; Discrimination Performance; Prey Capture; Discrimination Threshold |
Dates: |
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Institution: | The University of Sheffield |
Academic Units: | The University of Sheffield > Faculty of Engineering (Sheffield) > Department of Computer Science (Sheffield) |
Depositing User: | Symplectic Sheffield |
Date Deposited: | 17 Jan 2020 14:33 |
Last Modified: | 17 Jan 2020 20:38 |
Status: | Published |
Publisher: | Springer |
Series Name: | Lecture Notes in Computer Science |
Refereed: | Yes |
Identification Number: | 10.1007/978-3-642-32527-4_31 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:155171 |