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A bee in the corridor: regulating the optic flow on one side

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HAL Id: hal-02295700

https://hal-amu.archives-ouvertes.fr/hal-02295700

Submitted on 24 Sep 2019

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A bee in the corridor: regulating the optic flow on one side

Franck Ruffier, Julien Serres, Guillaume P. Masson, Nicolas Franceschini

To cite this version:

Franck Ruffier, Julien Serres, Guillaume P. Masson, Nicolas Franceschini. A bee in the corridor:

regulating the optic flow on one side. 31st Göttingen Neurobiology Conference - 7th Meeting of the

German Neuroscience Society, Mar 2007, Göttingen, Germany. �hal-02295700�

(2)

A bee in the corridor:

regulating the optic flow on one side

F. Ruffier, J. Serres, G.P. Masson and N. Franceschini

Biorobotics Dpt., Movement and Perception Inst., CNRS/Univ. of the Mediterranean, 163, avenue Luminy, 13288 Marseille Cedex 09 FRANCE e-mail: franck.ruffier@univmed.fr

• Frame by frame analysis of the trajectories of individual bees (Apis Mellifera)

• The dual optic flow regulator for speed control and collision avoidance

Future and Emerging Technologies

• Conclusion

Forward speed and distance to one wall are proportional to each other, attesting that the lateral optic flow is held constant.

The bee’s behaviour is well accounted for by a lateral optic flow regulator (Serres et al., Proc. IEEE/RAS Biorob 2006) The dual optic flow regulator generates behaviours that are similar to those observed in bees (Srinivasan et al., 1996)

T14-7B

• Simulations of a fully actuated hovercraft:

(Serres, Ruffier, Franceschini, Proc. IEEE Biorob, 2006)

Left wall absent

Left wall absent

• Actual flight of a bee:

(adapted from Srinivasan, Zhang, Lehrer, Collett, 1996)

Distance travelled, x(m) Vx(m/s)y(m)

Phase plane

Sampling period:

T

e

=50ms Camera viewfield:

1.5 m x 0.95 m

Speed and distance are proportional Proportionality

factor: 

set L

set L

is the lateral optic flow ‘set-point’

experimental procedure : T14-8B (Serres et al.,

Göttingen, 2007)

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