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Abstract:
We implement a model of obstacle avoidance in flying insects
on a small, monocular robot. The result is a system that is capable
of rapid navigation through a dense obstacle field. The key to the
system is the use of zig-zag behavior to articulate the body during
movement. It is shown that this behavior compensates for a parallax
blind spot surrounding the focus of expansion normally found in
systems without zig-zag behavior. The system models the cooperation
of several behaviors: halter-ocular response (similar to VOR),
optomotor response, and the parallax field computation and mapping
to motor system itself. The resulting system is neurally plausible,
simple, and should be easily hostable on aVLSI hardware.
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