Imperial College London

DrRaviVaidyanathan

Faculty of EngineeringDepartment of Mechanical Engineering

Senior Lecturer in Bio-Mechatronics
 
 
 
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Contact

 

+44 (0)20 7594 7020r.vaidyanathan CV

 
 
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Location

 

717City and Guilds BuildingSouth Kensington Campus

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Summary

 

Publications

Citation

BibTex format

@article{Vaidyanathan:2012:10.1177/0959651811428035,
author = {Vaidyanathan, R and Chen, C-T and Jeong, C-D and Williams, C and Endo, Y and Ritzmann, RE and Quinn, RD},
doi = {10.1177/0959651811428035},
journal = {Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering},
pages = {699--718--699--718},
title = {A reflexive vehicle control architecture based on a neural model of the cockroach escape response},
url = {http://dx.doi.org/10.1177/0959651811428035},
volume = {226},
year = {2012}
}

RIS format (EndNote, RefMan)

TY  - JOUR
AB - This paper presents a biologically inspired architecture for rapid real-time control of autonomous or semi-autonomous vehicles based on a neural model of the escape response of the American cockroach, Periplaneta americana. The architecture fuses exteroceptive and proprioceptive inputs in a manner similar to the insect to produce commands for collision avoidance and, in some cases, orientation for target strike. It functions as a reflexive subsystem that integrates smoothly with higher-level planning and behavioral control systems. The performance of the reflex is demonstrated in simulation and in hardware experiments on both air and ground vehicles, even in the presence of noisy, false or disruptive sensor data.
AU - Vaidyanathan,R
AU - Chen,C-T
AU - Jeong,C-D
AU - Williams,C
AU - Endo,Y
AU - Ritzmann,RE
AU - Quinn,RD
DO - 10.1177/0959651811428035
EP - 718
PY - 2012///
SP - 699
TI - A reflexive vehicle control architecture based on a neural model of the cockroach escape response
T2 - Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering
UR - http://dx.doi.org/10.1177/0959651811428035
UR - http://pii.sagepub.com/cgi/content/abstract/226/5/699
VL - 226
ER -