Chelsea Sabo

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We present a novel neurally based model for estimating angular velocity (AV) in the bee brain, capable of quantitatively reproducing experimental observations of visual odometry and corridor-centering in free-flying honeybees, including previously unaccounted for manipulations of behaviour. The model is fitted using electrophysiological data, and tested(More)
The insect central complex (CX) is an enigmatic structure whose computational function has evaded inquiry, but has been implicated in a wide range of behaviours. Recent experimental evidence from the fruit fly (Drosophila melanogaster) and the cockroach (Blaberus discoidalis) has demonstrated the existence of neural activity corresponding to the animal's(More)
Vehicle Routing Problems (VRPs) concern allocating multiple vehicles to service requests with routes that start and end at a depot, visit all requests, and minimize some operational cost. Many UAV situations can be modeled in a manner that represents tasks to be accomplished by service requests and UAVs as agents that fulfill these requests. Often,(More)
Flying insects are capable of a wide-range of flight and cognitive behaviors which are not currently understood. The replication of these capabilities is of interest to miniaturized robotics, because they share similar size, weight, and energy constraints. Currently, embodiment of insect behavior is primarily done on ground robots which utilize simplistic(More)
Designing hardware for miniaturized robotics which mimics the capabilities of flying insects is of interest, because they share similar constraints (i.e. small size, low weight, and low energy consumption). Research in this area aims to enable robots with similarly efficient flight and cognitive abilities. Visual processing is important to flying insects'(More)
Working with large swarms of robots has challenges in calibration, sensing, tracking, and control due to the associated scalability and time requirements. Kilobots solve this through their ease of maintenance and programming, and are widely used in several research laboratories worldwide where their low cost enables large-scale swarms studies. However, the(More)
In insects the optomotor response produces a motor action to compensate for unintended body rotation. The response is generally modeled as a Reichardt-Hassenstein (HSD) or Barlow-Levick (BL) correlation detector, as anatomical and physiological studies in Drosophila melanogaster have demonstrated consistent neural pathways and responses in the insect brain(More)
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