Evaluation of Possible Flight Strategies for Close Object Evasion from Bumblebee Experiments

Thoma A, Fisher A, Bertrand O, Braun C (2020)
In: Biomimetic and Biohybrid Systems. 9th International Conference, Living Machines 2020, Freiburg, Germany, July 28–30, 2020, Proceedings. Vouloutsi V, Mura A, Tauber F, Speck T, Prescott TJ, Verschure PFMJ (Eds); Lecture Notes in Computer Science, 12413. Cham: Springer: 354-365.

Sammelwerksbeitrag | Veröffentlicht | Englisch
 
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Autor*in
Thoma, Andreas; Fisher, Alex; Bertrand, OlivierUniBi ; Braun, Carsten
Herausgeber*in
Vouloutsi, Vasiliki; Mura, Anna; Tauber, Falk; Speck, Thomas; Prescott, Tony J.; Verschure, Paul F. M. J.
Abstract / Bemerkung
The need for robust and efficient obstacle avoidance algorithms for flying platforms increases at a fast pace. Strategies are required to maneuver around various obstacles. Since bumblebees are efficient fliers that need to navigate in cluttered environments, they are perfectly suitable test objects when seeking for avoidance strategies. In the present work, we study the maneuver of bumblebees confronted with a large rectangular obstacle lying on their direct path to the hive. The bumblebees could always evade the obstacle vertically or horizontally, e.g., fly over the obstacle or fly around the obstacle, respectively. The chosen evasion maneuver, i.e., the basic strategy employed by the bee, is considered the dependent variable. The influence of the distance to the obstacle, obstacle dimensions, acceleration, and flight speed were investigated and considered as independent variables. To evaluate the bumblebee behavior, linear regression, and the Horizontality Verticality Index (HV), an adaption of the Laterality Index, was used to estimate the preferred behavioral choice. Examination of the bumblebee behavior revealed a strong tendency towards vertical evasion at higher distances to the obstacle, while the bumblebees evaded close obstacles horizontally. This is reasonable because climbing in flapping-wing flight is aerodynamically more efficient in forward movement than in hover flight. A linear function based on the HV Index was defined to estimate a relationship between distance to obstacle and evasion maneuver. Depending on the dimensions of the obstacle, alternative slopes of the HV function could be identified, indicating an additional dependency on the height-to-width ratio. However, taking the obstacle shape into account does not improve the predictability of an L1 LASSO regression model. Finally, one possibility to include the HV index into a technical system as an element of an obstacle avoidance algorithm is discussed.
Stichworte
Obstacle avoidance Bumblebees MAV UAV Flight control
Erscheinungsjahr
2020
Buchtitel
Biomimetic and Biohybrid Systems. 9th International Conference, Living Machines 2020, Freiburg, Germany, July 28–30, 2020, Proceedings
Serientitel
Lecture Notes in Computer Science
Band
12413
Seite(n)
354-365
ISBN
978-3-030-64312-6
eISBN
978-3-030-64313-3
Page URI
https://pub.uni-bielefeld.de/record/2952550

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Thoma A, Fisher A, Bertrand O, Braun C. Evaluation of Possible Flight Strategies for Close Object Evasion from Bumblebee Experiments. In: Vouloutsi V, Mura A, Tauber F, Speck T, Prescott TJ, Verschure PFMJ, eds. Biomimetic and Biohybrid Systems. 9th International Conference, Living Machines 2020, Freiburg, Germany, July 28–30, 2020, Proceedings. Lecture Notes in Computer Science. Vol 12413. Cham: Springer; 2020: 354-365.
Thoma, A., Fisher, A., Bertrand, O., & Braun, C. (2020). Evaluation of Possible Flight Strategies for Close Object Evasion from Bumblebee Experiments. In V. Vouloutsi, A. Mura, F. Tauber, T. Speck, T. J. Prescott, & P. F. M. J. Verschure (Eds.), Lecture Notes in Computer Science: Vol. 12413. Biomimetic and Biohybrid Systems. 9th International Conference, Living Machines 2020, Freiburg, Germany, July 28–30, 2020, Proceedings (pp. 354-365). Cham: Springer. https://doi.org/10.1007/978-3-030-64313-3_34
Thoma, A., Fisher, A., Bertrand, O., and Braun, C. (2020). “Evaluation of Possible Flight Strategies for Close Object Evasion from Bumblebee Experiments” in Biomimetic and Biohybrid Systems. 9th International Conference, Living Machines 2020, Freiburg, Germany, July 28–30, 2020, Proceedings, Vouloutsi, V., Mura, A., Tauber, F., Speck, T., Prescott, T. J., and Verschure, P. F. M. J. eds. Lecture Notes in Computer Science, vol. 12413, (Cham: Springer), 354-365.
Thoma, A., et al., 2020. Evaluation of Possible Flight Strategies for Close Object Evasion from Bumblebee Experiments. In V. Vouloutsi, et al., eds. Biomimetic and Biohybrid Systems. 9th International Conference, Living Machines 2020, Freiburg, Germany, July 28–30, 2020, Proceedings. Lecture Notes in Computer Science. no.12413 Cham: Springer, pp. 354-365.
A. Thoma, et al., “Evaluation of Possible Flight Strategies for Close Object Evasion from Bumblebee Experiments”, Biomimetic and Biohybrid Systems. 9th International Conference, Living Machines 2020, Freiburg, Germany, July 28–30, 2020, Proceedings, V. Vouloutsi, et al., eds., Lecture Notes in Computer Science, vol. 12413, Cham: Springer, 2020, pp.354-365.
Thoma, A., Fisher, A., Bertrand, O., Braun, C.: Evaluation of Possible Flight Strategies for Close Object Evasion from Bumblebee Experiments. In: Vouloutsi, V., Mura, A., Tauber, F., Speck, T., Prescott, T.J., and Verschure, P.F.M.J. (eds.) Biomimetic and Biohybrid Systems. 9th International Conference, Living Machines 2020, Freiburg, Germany, July 28–30, 2020, Proceedings. Lecture Notes in Computer Science. 12413, p. 354-365. Springer, Cham (2020).
Thoma, Andreas, Fisher, Alex, Bertrand, Olivier, and Braun, Carsten. “Evaluation of Possible Flight Strategies for Close Object Evasion from Bumblebee Experiments”. Biomimetic and Biohybrid Systems. 9th International Conference, Living Machines 2020, Freiburg, Germany, July 28–30, 2020, Proceedings. Ed. Vasiliki Vouloutsi, Anna Mura, Falk Tauber, Thomas Speck, Tony J. Prescott, and Paul F. M. J. Verschure. Cham: Springer, 2020.Vol. 12413. Lecture Notes in Computer Science. 354-365.

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