Using Dynamic Optimization for Reproducing the Chameleon Visual System

Ofir Avni, Francesco Borrelli, Gadi Katzir, Ehud Rivlin, and Hector Rotstein.
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.}
}