How Fly Neural Perception Mechanisms Enhance Visuomotor Control of Micro Robots
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arXiv
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| Autores principales: | , , , |
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| Formato: | Preprint |
| Publicado: |
2025
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| _version_ | 1866908544262995968 |
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| author | Liu, Renyuan Zhou, Haoting Fang, Chuankai Fu, Qinbing |
| author_facet | Liu, Renyuan Zhou, Haoting Fang, Chuankai Fu, Qinbing |
| contents | Anyone who has tried to swat a fly has likely been frustrated by its remarkable agility.This ability stems from its visual neural perception system, particularly the collision-selective neurons within its small brain.For autonomous robots operating in complex and unfamiliar environments, achieving similar agility is highly desirable but often constrained by the trade-off between computational cost and performance.In this context, insect-inspired intelligence offers a parsimonious route to low-power, computationally efficient frameworks.In this paper, we propose an attention-driven visuomotor control strategy inspired by a specific class of fly visual projection neurons-the lobula plate/lobula column type-2 (LPLC2)-and their associated escape behaviors.To our knowledge, this represents the first embodiment of an LPLC2 neural model in the embedded vision of a physical mobile robot, enabling collision perception and reactive evasion.The model was simplified and optimized at 70KB in memory to suit the computational constraints of a vision-based micro robot, the Colias, while preserving key neural perception mechanisms.We further incorporated multi-attention mechanisms to emulate the distributed nature of LPLC2 responses, allowing the robot to detect and react to approaching targets both rapidly and selectively.We systematically evaluated the proposed method against a state-of-the-art locust-inspired collision detection model.Results showed that the fly-inspired visuomotor model achieved comparable robustness, at success rate of 96.1% in collision detection while producing more adaptive and elegant evasive maneuvers.Beyond demonstrating an effective collision-avoidance strategy, this work highlights the potential of fly-inspired neural models for advancing research into collective behaviors in insect intelligence. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2509_13827 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | How Fly Neural Perception Mechanisms Enhance Visuomotor Control of Micro Robots Liu, Renyuan Zhou, Haoting Fang, Chuankai Fu, Qinbing Robotics Neural and Evolutionary Computing Anyone who has tried to swat a fly has likely been frustrated by its remarkable agility.This ability stems from its visual neural perception system, particularly the collision-selective neurons within its small brain.For autonomous robots operating in complex and unfamiliar environments, achieving similar agility is highly desirable but often constrained by the trade-off between computational cost and performance.In this context, insect-inspired intelligence offers a parsimonious route to low-power, computationally efficient frameworks.In this paper, we propose an attention-driven visuomotor control strategy inspired by a specific class of fly visual projection neurons-the lobula plate/lobula column type-2 (LPLC2)-and their associated escape behaviors.To our knowledge, this represents the first embodiment of an LPLC2 neural model in the embedded vision of a physical mobile robot, enabling collision perception and reactive evasion.The model was simplified and optimized at 70KB in memory to suit the computational constraints of a vision-based micro robot, the Colias, while preserving key neural perception mechanisms.We further incorporated multi-attention mechanisms to emulate the distributed nature of LPLC2 responses, allowing the robot to detect and react to approaching targets both rapidly and selectively.We systematically evaluated the proposed method against a state-of-the-art locust-inspired collision detection model.Results showed that the fly-inspired visuomotor model achieved comparable robustness, at success rate of 96.1% in collision detection while producing more adaptive and elegant evasive maneuvers.Beyond demonstrating an effective collision-avoidance strategy, this work highlights the potential of fly-inspired neural models for advancing research into collective behaviors in insect intelligence. |
| title | How Fly Neural Perception Mechanisms Enhance Visuomotor Control of Micro Robots |
| topic | Robotics Neural and Evolutionary Computing |
| url | https://arxiv.org/abs/2509.13827 |