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An insect-inspired model for acquiring views for homing

Schulte, Patrick and Zeil, Jochen and Stürzl, Wolfgang (2019) An insect-inspired model for acquiring views for homing. Biological Cybernetics, pp. 1-13. Springer. DOI: 10.1007/s00422-019-00800-1 ISSN 0340-1200

[img] PDF - Postprint version (accepted manuscript)

Official URL: https://doi.org/10.1007/s00422-019-00800-1


Wasps and bees perform learning flights when leaving their nest or food locations for the first time during which they acquire visual information that enables them to return successfully. Here we present and test a set of simple control rules underlying the execution of learning flights that closely mimic those performed by ground-nesting wasps. In the simplest model, we assume that the angle between flight direction and the nest direction as seen from the position of the insect is constant and only flips sign when pivoting direction around the nest is changed, resulting in a concatenation of piecewise defined logarithmic spirals. We then added characteristic properties of real learning flights, such as head saccades and the condition that the nest entrance within the visual field is kept nearly constant to describe the development of a learning flight in a head-centered frame of reference, assuming that the retinal position of the nest is known. We finally implemented a closed-loop simulation of learning flights based on a small set of visual control rules. The visual input for this model are rendered views generated from 3D reconstructions of natural wasp nesting sites, and the retinal nest position is controlled by means of simple template-based tracking. We show that naturalistic paths can be generated without knowledge of the absolute distance to the nest or of the flight speed. We demonstrate in addition that nest-tagged views recorded during such simulated learning flights are sufficient for a homing agent to pinpoint the goal, by identifying nest direction when encountering familiar views. We discuss how the information acquired during learning flights close to the nest can be integrated with long-range homing models.

Item URL in elib:https://elib.dlr.de/127447/
Document Type:Article
Title:An insect-inspired model for acquiring views for homing
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Schulte, PatrickPatrick.Schulte (at) dlr.deUNSPECIFIED
Zeil, Jochenjochen.zeil (at) anu.edu.auUNSPECIFIED
Stürzl, WolfgangWolfgang.Stuerzl (at) dlr.deUNSPECIFIED
Journal or Publication Title:Biological Cybernetics
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:Yes
DOI :10.1007/s00422-019-00800-1
Page Range:pp. 1-13
Keywords:Visual navigation, Flying insects, Learning flights, Visual servoing, Homing
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Multisensorielle Weltmodellierung
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Perception and Cognition
Deposited By: Stürzl, Wolfgang
Deposited On:20 May 2019 09:39
Last Modified:15 May 2020 03:00

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