Holistic Visual Encoding of Ant-Like Routes: Navigation without Waypoints

Baddeley, Bart, Graham, Paul, Philippides, Andrew and Husbands, Philip (2011) Holistic Visual Encoding of Ant-Like Routes: Navigation without Waypoints. Adaptive Behavior, 19 (1). pp. 3-15. ISSN 1059-7123

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Abstract

It is known that ants learn long visually guided routes through complex terrain. However, the mechanisms by which visual information is first learned and then used to control a route direction are not well understood. In this article, we propose a parsimonious mechanism for visually guided route following. We investigate whether a simple approach, involving scanning the environment and moving in the direction that appears most familiar, can provide a model of visually guided route learning in ants. We implement view familiarity as a means of navigation by training a classifier to determine whether a given view is part of a route and using the confidence in this classification as a proxy for familiarity. Through the coupling of movement and viewing direction, a familiar view specifies a familiar direction of viewing and thus a familiar movement to make. We show the feasibility of our approach as a model of ant-like route acquisition by learning a series of nontrivial routes through an indoor environment using a large gantry robot equipped with a panoramic camera.

Item Type: Article
Schools and Departments: School of Engineering and Informatics > Informatics
Depositing User: Bartholomew Baddeley
Date Deposited: 06 Feb 2012 19:45
Last Modified: 12 Apr 2012 10:58
URI: http://srodev.sussex.ac.uk/id/eprint/22034
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