Conference Towards Autonomous Robotic Systems

TAROS 2012: Advances in Autonomous Robotics pp 343-353

Predictive Prey Pursuit in a Whiskered Robot

  • Ben Mitchinson
  • Martin J. Pearson
  • Anthony G. Pipe
  • Tony J. Prescott
Conference paper

DOI: 10.1007/978-3-642-32527-4_31

Volume 7429 of the book series Lecture Notes in Computer Science (LNCS)
Cite this paper as:
Mitchinson B., Pearson M.J., Pipe A.G., Prescott T.J. (2012) Predictive Prey Pursuit in a Whiskered Robot. In: Herrmann G. et al. (eds) Advances in Autonomous Robotics. TAROS 2012. Lecture Notes in Computer Science, vol 7429. Springer, Berlin, Heidelberg

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.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2012

Authors and Affiliations

  • Ben Mitchinson
    • 1
  • Martin J. Pearson
    • 2
  • Anthony G. Pipe
    • 2
  • Tony J. Prescott
    • 1
  1. 1.ATLAS Research GroupThe University of SheffieldUK
  2. 2.Bristol Robotics LaboratoryBristolUK