Using dynamic optimization for reproducing the chameleon visual system

Ofir Avni; Francesco Borrellit; Gadi Katzir; Ehud Rivlin; Hector Rotstein

doi:10.1109/cdc.2006.376907

Using dynamic optimization for reproducing the chameleon visual system

Ofir Avni, Francesco Borrellit, Gadi Katzir, Ehud Rivlin, Hector Rotstein

Department of Evolutionary and Environmental Biology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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.

Original language	English
Title of host publication	Proceedings of the 45th IEEE Conference on Decision and Control 2006, CDC
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1770-1775
Number of pages	6
ISBN (Print)	1424401712, 9781424401710
DOIs	https://doi.org/10.1109/cdc.2006.376907
State	Published - 2006
Event	45th IEEE Conference on Decision and Control 2006, CDC - San Diego, CA, United States Duration: 13 Dec 2006 → 15 Dec 2006

Publication series

Name	Proceedings of the IEEE Conference on Decision and Control
ISSN (Print)	0743-1546
ISSN (Electronic)	2576-2370

Conference

Conference	45th IEEE Conference on Decision and Control 2006, CDC
Country/Territory	United States
City	San Diego, CA
Period	13/12/06 → 15/12/06

ASJC Scopus subject areas

Control and Systems Engineering
Modeling and Simulation
Control and Optimization

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10.1109/cdc.2006.376907

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Avni, O., Borrellit, F., Katzir, G., Rivlin, E., & Rotstein, H. (2006). Using dynamic optimization for reproducing the chameleon visual system. In Proceedings of the 45th IEEE Conference on Decision and Control 2006, CDC (pp. 1770-1775). Article 4177642 (Proceedings of the IEEE Conference on Decision and Control). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/cdc.2006.376907

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title = "Using dynamic optimization for reproducing the chameleon visual system",

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.",

author = "Ofir Avni and Francesco Borrellit and Gadi Katzir and Ehud Rivlin and Hector Rotstein",

year = "2006",

doi = "10.1109/cdc.2006.376907",

language = "English",

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address = "United States",

note = "45th IEEE Conference on Decision and Control 2006, CDC ; Conference date: 13-12-2006 Through 15-12-2006",

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Avni, O, Borrellit, F, Katzir, G, Rivlin, E & Rotstein, H 2006, Using dynamic optimization for reproducing the chameleon visual system. in Proceedings of the 45th IEEE Conference on Decision and Control 2006, CDC., 4177642, Proceedings of the IEEE Conference on Decision and Control, Institute of Electrical and Electronics Engineers Inc., pp. 1770-1775, 45th IEEE Conference on Decision and Control 2006, CDC, San Diego, CA, United States, 13/12/06. https://doi.org/10.1109/cdc.2006.376907

Using dynamic optimization for reproducing the chameleon visual system. / Avni, Ofir; Borrellit, Francesco; Katzir, Gadi et al.
Proceedings of the 45th IEEE Conference on Decision and Control 2006, CDC. Institute of Electrical and Electronics Engineers Inc., 2006. p. 1770-1775 4177642 (Proceedings of the IEEE Conference on Decision and Control).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Rivlin, Ehud

AU - Rotstein, Hector

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AB - 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.

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Avni O, Borrellit F, Katzir G, Rivlin E, Rotstein H. Using dynamic optimization for reproducing the chameleon visual system. In Proceedings of the 45th IEEE Conference on Decision and Control 2006, CDC. Institute of Electrical and Electronics Engineers Inc. 2006. p. 1770-1775. 4177642. (Proceedings of the IEEE Conference on Decision and Control). doi: 10.1109/cdc.2006.376907

Using dynamic optimization for reproducing the chameleon visual system

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