Using Dynamic Optimization for Reproducing the Chameleon Visual System
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Using Dynamic Optimization for Reproducing the Chameleon Visual System.
In IEEE Conf. on Decision and Control, Best Paper Award, 1770-1775, 2006
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Abstract
This paper presents a method for robust target tracking with a set of independent pan-tilt cameras which combines smooth pursuit and saccades. The approach is systematic and optimization-based, and was inspired by our understanding of the chameleon visual system. Explicit robust and minimum-time model predictive control (MPC) theory is used for the design of the tracking control law. Experimental validation of the approach on a robotic chameleon head composed of two independent pan-tilt cameras is presented.
Co-authors
Bibtex Entry
@inproceedings{AvniBKRR06i-u,
title = {Using Dynamic Optimization for Reproducing the Chameleon Visual System},
author = {Ofir Avni and Francesco Borrelli and Gadi Katzir and Ehud Rivlin and Hector Rotstein},
year = {2006},
booktitle = {IEEE Conf. on Decision and Control, Best Paper Award},
pages = {1770-1775},
abstract = {This paper presents a method for robust target tracking with a set of independent pan-tilt cameras which combines smooth pursuit and saccades. The approach is systematic and optimization-based, and was inspired by our understanding of the chameleon visual system. Explicit robust and minimum-time model predictive control (MPC) theory is used for the design of the tracking control law. Experimental validation of the approach on a robotic chameleon head composed of two independent pan-tilt cameras is presented.}
}