Dario Floreano | | From Wheels to Wings with Evolutionary Spiking Circuits
Dario Floreano
Autonomous Systems Lab, Institute of Systems Engineering
Swiss Federal Institute of Technology (EPFL), CH-1015 Lausanne,
Switzerland
I will give an overview of the EPFL indoor flying project, whose
goal is to evolve neural controllers for autonomous, adaptive,
indoor micro-flyers. Indoor flight is still a challenge because it
requires miniaturization, energy efficiency, and control of
non-linear flight dynamics. This ongoing project consists in
developing a flying, vision-based micro-robot, a bio-inspired
controller composed of adaptive spiking neurons directly mapped
into digital micro-controllers, and a method to evolve such a
neural controller without human intervention. The talk describes
the motivation and methodology used to reach our goal as well as
the results of a number of preliminary experiments on vision-based
wheeled and flying robots.
This is a joint work with Jean-Christophe Zufferey (ASL-EPFL) and
Jean-Daniel Nicoud (DIDEL S.A., www.didel.com)
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