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An optimal control strategy for two-dimensional motion camouflage with non-holonimic constraints.
MedLine Citation:
PMID:  22648568     Owner:  NLM     Status:  Publisher    
Abstract/OtherAbstract:
Motion camouflage is a stealth behaviour observed both in hover-flies and in dragonflies. Existing controllers for mimicking motion camouflage generate this behaviour on an empirical basis or without considering the kinematic motion restrictions present in animal trajectories. This study summarises our formal contributions to solve the generation of motion camouflage as a non-linear optimal control problem. The dynamics of the system capture the kinematic restrictions to motion of the agents, while the performance index ensures camouflage trajectories. An extensive set of simulations support the technique, and a novel analysis of the obtained trajectories contributes to our understanding of possible mechanisms to obtain sensor based motion camouflage, for instance, in mobile robots.
Authors:
Iñaki Rañó
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Publication Detail:
Type:  JOURNAL ARTICLE     Date:  2012-5-31
Journal Detail:
Title:  Biological cybernetics     Volume:  -     ISSN:  1432-0770     ISO Abbreviation:  -     Publication Date:  2012 May 
Date Detail:
Created Date:  2012-5-31     Completed Date:  -     Revised Date:  -    
Medline Journal Info:
Nlm Unique ID:  7502533     Medline TA:  Biol Cybern     Country:  -    
Other Details:
Languages:  ENG     Pagination:  -     Citation Subset:  -    
Affiliation:
Institut für Neuroinformatik, Ruhr-Universität Bochum, Bochum, Germany, inaki.rano@ini.rub.de.
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