Vision-based navigation from wheels to wings

摘要: We describe an incremental approach towards the development of autonomous indoor flyers that use only vision to navigate in textured environments. In order cope with severe weight and energy constraints such systems, we spiking neural controllers can be implemented tiny micro-controllers map visual information into motor commands. The network morphology is evolved by means evolutionary process on physical robots. This methodology tested three robots increasing complexity, from a wheeled robot dirigible winged robot. paper describes approach, robots, their degrees summarizes results. addition, compatible electronic boards choice sensors suitable for these are described more details. These allow comparative gradual flying