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About this book

This book presents the result of a joint effort from different European Institutions within the framework of the EU funded project called SPARK II, devoted to device an insect brain computational model, useful to be embedded into autonomous robotic agents.
Part I reports the biological background on Drosophila melanogaster with particular attention to the main centers which are used as building blocks for the implementation of the insect brain computational model.
Part II reports the mathematical approach to model the Central Pattern Generator used for the gait generation in a six-legged robot. Also the Reaction-diffusion principles in non-linear lattices are exploited to develop a compact internal representation of a dynamically changing environment for behavioral planning.
In Part III a software/hardware framework, developed to integrate the insect brain computational model in a simulated/real robotic platform, is illustrated. The different robots used for the experiments are also described. Moreover the problems related to the vision system were addressed proposing robust solutions for object identification and feature extraction.
Part IV includes the relevant scenarios used in the experiments to test the capabilities of the insect brain-inspired architecture taking as comparison the biological case. Experimental results are finally reported, whose multimedia can be found in the SPARK II web page: www.spark2.diees.unict.it

Table of Contents

Frontmatter

Models of the Insect Brain: From Neurobiology to Computational Intelligence

Frontmatter

2014 | OriginalPaper | Chapter

Chapter 1. Neurobiological Models of the Central Complex and the Mushroom Bodies

R. Strauss

2014 | OriginalPaper | Chapter

Chapter 2. A Computational Model for the Insect Brain

P. Arena, L. Patanè, P. S. Termini

Complex Dynamics for Internal Representation and Locomotion Control

Frontmatter

2014 | OriginalPaper | Chapter

Chapter 3. Compact Internal Representation of Dynamic Environments: Simple Memory Structures for Complex Situations

J. A. Villacorta-Atienza, M. G. Velarde, V. A. Makarov

2014 | OriginalPaper | Chapter

Chapter 4. CPG for Motor Control

E. Arena, P. Arena, L. Patanè

2014 | OriginalPaper | Chapter

Chapter 5. A Prototype 2N-Legged (insect-like) Robot. A Non-Linear Dynamical System Approach

E. del Rio, M. G. Velarde

Software/Hardware Cognitive Architectures

Frontmatter

2014 | OriginalPaper | Chapter

Chapter 6. A Robotic Simulation Framework for Cognitive Systems

P. Arena, L. Patanè, A. Vitanza

2014 | OriginalPaper | Chapter

Chapter 7. Robotic Platforms

I. Aleo, P. Arena, S. De Fiore, L. Patanè, M. Pollino, C. Ventura

2014 | OriginalPaper | Chapter

Chapter 8. Compact Internal Representation of Dynamic Environments: Implementation on FPGA

L. Salas-Paracuellos, L. Alba-Soto

2014 | OriginalPaper | Chapter

Chapter 9. Visual Routines for Cognitive Systems on the Eye-RIS Platform

D. J. Caballero-Garcia, A. Jimenez-Marrufo

Scenarios and Experiments

Frontmatter

2014 | OriginalPaper | Chapter

Chapter 10. Experimental Scenarios

P. Arena, L. Patanè

2014 | OriginalPaper | Chapter

Chapter 11. Robotic Experiments and Comparisons

P. Arena, S. De Fiore, L. Patanè, P. S. Termini, A. Vitanza
Additional information