Insect-inspired navigation strategies have the potential to unlock robotic navigation in power-constrained scenarios, as they can function effectively with limited computational resources. One such strategy, familiarity-based navigation, has successfully navigated a robot along routes of up to 60 m using a single-layer neural network trained with an Infomax learning rule. Given the small size of the network that effectively encodes the route, here we investigate the limits of this method, challenging it to navigate longer routes, investigating the relationship between performance, view acquisition rate and dimension, network size, and robustness to noise. Our goal is both to determine the parameters at which this method operates effectively and to explore the profile with which it fails, both to inform theories of insect navigation and to improve robotic deployments. We show that effective memorization of familiar views is possible for longer routes than previously attempted, but that this length decreases for reduced input view dimensions. We also show that the ideal view acquisition rate must be increased with route length for consistent performance. We further demonstrate that computational and memory savings may be made with equivalent performance by reducing the network size-an important consideration for applicability to small, lower-power robots-and investigate the profile of memory failure, demonstrating increased confusion across the route as it extends in length. In this extension to previous work, we also investigate the form taken by the network weights as training extends and the areas of the image on which visual familiarity-based navigation most relies. Additionally, we investigate the robustness of familiarity-based navigation to view variation caused by noise.

Individually foraging ants use egocentric views as a dominant navigation strategy for learning and retracing routes. Evidence suggests that route retracing can be achieved by algorithms which use views as 'visual compasses', where individuals choose the heading that leads to the most familiar visual scene when compared to route memories. However, such a mechanism does not naturally lead to route approach, and alternative strategies are required to enable convergence when off-route and for correcting on-route divergence. In this work we investigate how behaviour incorporated into visual compass like route learning and recapitulation strategies might enable convergence to a learned route and its destination. Without alterations to the basic form of the initial learning route, the most successful recapitulation method comes from a 'cast and surge' approach, a mechanism seen across arthropods for olfactory navigation. In this strategy casts form a 'zig-zagged' or oscillatory search in space for familiar views, and surges exploit visual familiarity gradients. We also find that performance improves if the learned route consists of an oscillatory motor mechanism with learning gated to occur when the agent approaches the central axis of the oscillation. Furthermore, such oscillations combined with the cast and surge method additively enhance performance, showing that it benefits to incorporate oscillatory behaviour in both learning and recapitulation. As destination reaching is the primary goal of navigation, we show that a suitably sized goal-orientated learning walk might suffice, but that the scale of this is dependent on the degree of divergence, and thus depends on route length and the route learning and recapitulation strategies used. Finally we show that view familiarity can modulate on-the-spot scans performed by an agent, providing a better reflection of ant behaviour. Overall, our results show that the visual compass can provide a basis for robust visual navigation, so long as it is considered holistically with the details of basic motor and sensory-motor patterns of ants undertaking route learning and recapitulation.

Many insects use memories of their visual environment to adaptively drive spatial behaviours. In ants, visual memories are fundamental for navigation, whereby foragers follow long visually guided routes to foraging sites and return to the location of their nest. Whilst we understand the basic visual pathway to the memory centres (Optic Lobes to Mushroom Bodies) involved in the storage of visual information, it is still largely unknown what type of representation of visual scenes underpins view-based navigation in ants. Several experimental studies have suggested ants use "higher-order" visual information - that is features extracted across the whole extent of a visual scene - which raises the question as to how these features might be computed. One such experimental study showed that ants can use the proportion of a shape experienced left of their visual centre to learn and recapitulate a route, a feature referred to as "fractional position of mass" (FPM). In this work, we use a simple model constrained by the known neuroanatomy and information processing properties of the Mushroom Bodies to explore whether the apparent use of the FPM could be a resulting factor of the bilateral organisation of the insect brain, all the whilst assuming a simple "retinotopic" view representation. We demonstrate that such bilaterally organised memory models can implicitly encode the FPM learned during training. We find that balancing the "quality" of the memory match across left and right hemispheres allows a trained model to retrieve the FPM defined direction, even when the model is tested with novel shapes, as demonstrated by ants. The result is shown to be largely independent of model parameter values, therefore suggesting that some aspects of higher-order processing of a visual scene may be emergent from the structure of the neural circuits, rather than computed in discrete processing modules.

The central complex of insects contains cells, organised as a ring attractor, that encode head direction. The 'bump' of activity in the ring can be updated by idiothetic cues and external sensory information. Plasticity at the synapses between these cells and the ring neurons, that are responsible for bringing sensory information into the central complex, has been proposed to form a mapping between visual cues and the heading estimate which allows for more accurate tracking of the current heading, than if only idiothetic information were used. In Drosophila, ring neurons have well characterised non-linear receptive fields. In this work we produce synthetic versions of these visual receptive fields using a combination of excitatory inputs and mutual inhibition between ring neurons. We use these receptive fields to bring visual information into a spiking neural network model of the insect central complex based on the recently published Drosophila connectome. Previous modelling work has focused on how this circuit functions as a ring attractor using the same type of simple visual cues commonly used experimentally. While we initially test the model on these simple stimuli, we then go on to apply the model to complex natural scenes containing multiple conflicting cues. We show that this simple visual filtering provided by the ring neurons is sufficient to form a mapping between heading and visual features and maintain the heading estimate in the absence of angular velocity input. The network is successful at tracking heading even when presented with videos of natural scenes containing conflicting information from environmental changes and translation of the camera.

Abstract This paper explores current developments in evolutionary and bio-inspired approaches to autonomous robotics, concentrating on research from our group at the University of Sussex. These developments are discussed in the context of advances in the wider fields of adaptive and evolutionary approaches to AI and robotics, focusing on the exploitation of embodied dynamics to create behaviour. Four case studies highlight various aspects of such exploitation. The first exploits the dynamical properties of a physical electronic substrate, demonstrating for the first time how component-level analog electronic circuits can be evolved directly in hardware to act as robot controllers. The second develops novel, effective and highly parsimonious navigation methods inspired by the way insects exploit the embodied dynamics of innate behaviours. Combining biological experiments with robotic modeling, it is shown how rapid route learning can be achieved with the aid of navigation-specific visual information that is provided and exploited by the innate behaviours. The third study focuses on the exploitation of neuromechanical chaos in the generation of robust motor behaviours. It is demonstrated how chaotic dynamics can be exploited to power a goal-driven search for desired motor behaviours in embodied systems using a particular control architecture based around neural oscillators. The dynamics are shown to be chaotic at all levels in the system, from the neural to the embodied mechanical. The final study explores the exploitation of the dynamics of brain-body-environment interactions for efficient, agile flapping winged flight. It is shown how a multi-objective evolutionary algorithm can be used to evolved dynamical neural controllers for a simulated flapping wing robot with feathered wings. Results demonstrate robust, stable, agile flight is achieved in the face of random wind gusts by exploiting complex asymmetric dynamics partly enabled by continually changing wing and tail morphologies.

Insects can navigate efficiently in both novel and familiar environments, and this requires flexiblity in how they are guided by sensory cues. A prominent landmark, for example, can elicit strong innate behaviours (attraction or menotaxis) but can also be used, after learning, as a specific directional cue as part of a navigation memory. However, the mechanisms that allow both pathways to co-exist, interact or override each other are largely unknown. Here we propose a model for the behavioural integration of innate and learned guidance based on the neuroanatomy of the central complex (CX), adapted to control landmark guided behaviours. We consider a reward signal provided either by an innate attraction to landmarks or a long-term visual memory in the mushroom bodies (MB) that modulates the formation of a local vector memory in the CX. Using an operant strategy for a simulated agent exploring a simple world containing a single visual cue, we show how the generated short-term memory can support both innate and learned steering behaviour. In addition, we show how this architecture is consistent with the observed effects of unilateral MB lesions in ants that cause a reversion to innate behaviour. We suggest the formation of a directional memory in the CX can be interpreted as transforming rewarding (positive or negative) sensory signals into a mapping of the environment that describes the geometrical attractiveness (or repulsion). We discuss how this scheme might represent an ideal way to combine multisensory information gathered during the exploration of an environment and support optimal cue integration.

All organisms wishing to survive and reproduce must be able to respond adaptively to a complex, changing world. Yet the computational power available is constrained by biology and evolution, favouring mechanisms that are parsimonious yet robust. Here we investigate the information carried in small populations of visually responsive neurons in Drosophila melanogaster. These so-called 'ring neurons', projecting to the ellipsoid body of the central complex, are reported to be necessary for complex visual tasks such as pattern recognition and visual navigation. Recently the receptive fields of these neurons have been mapped, allowing us to investigate how well they can support such behaviours. For instance, in a simulation of classic pattern discrimination experiments, we show that the pattern of output from the ring neurons matches observed fly behaviour. However, performance of the neurons (as with flies) is not perfect and can be easily improved with the addition of extra neurons, suggesting the neurons' receptive fields are not optimised for recognising abstract shapes, a conclusion which casts doubt on cognitive explanations of fly behaviour in pattern recognition assays. Using artificial neural networks, we then assess how easy it is to decode more general information about stimulus shape from the ring neuron population codes. We show that these neurons are well suited for encoding information about size, position and orientation, which are more relevant behavioural parameters for a fly than abstract pattern properties. This leads us to suggest that in order to understand the properties of neural systems, one must consider how perceptual circuits put information at the service of behaviour.

Abstract We present a near‐instant method for acquiring facial geometry and reflectance using a set of commodity DSLR cameras and flashes. Our setup consists of twenty‐four cameras and six flashes which are fired in rapid succession with subsets of the cameras. Each camera records only a single photograph and the total capture time is less than the 67ms blink reflex. The cameras and flashes are specially arranged to produce an even distribution of specular highlights on the face. We employ this set of acquired images to estimate diffuse color, specular intensity, specular exponent, and surface orientation at each point on the face. We further refine the facial base geometry obtained from multi‐view stereo using estimated diffuse and specular photometric information. This allows final submillimeter surface mesostructure detail to be obtained via shape‐from‐specularity. The final system uses commodity components and produces models suitable for authoring high‐quality digital human characters.

Abstract We present a technique for generating microstructure‐level facial geometry by augmenting a mesostructure‐level facial scan with detail synthesized from a set of exemplar skin patches scanned at much higher resolution. Additionally, we make point‐source reflectance measurements of the skin patches to characterize the specular reflectance lobes at this smaller scale and analyze facial reflectance variation at both the mesostructure and microstructure scales. We digitize the exemplar patches with a polarization‐based computational illumination technique which considers specular reflection and single scattering. The recorded microstructure patches can be used to synthesize full‐facial microstructure detail for either the same subject or to a different subject. We show that the technique allows for greater realism in facial renderings including more accurate reproduction of skin's specular reflection effects.

We present a novel technique for acquiring the geometry and spatially-varying reflectance properties of 3D objects by observing them under continuous spherical harmonic illumination conditions. The technique is general enough to characterize either entirely specular or entirely diffuse materials, or any varying combination across the surface of the object. We employ a novel computational illumination setup consisting of a rotating arc of controllable LEDs which sweep out programmable spheres of incident illumination during 1-second exposures. We illuminate the object with a succession of spherical harmonic illumination conditions, as well as photographed environmental lighting for validation. From the response of the object to the harmonics, we can separate diffuse and specular reflections, estimate world-space diffuse and specular normals, and compute anisotropic roughness parameters for each view of the object. We then use the maps of both diffuse and specular reflectance to form correspondences in a multiview stereo algorithm, which allows even highly specular surfaces to be corresponded across views. The algorithm yields a complete 3D model and a set of merged reflectance maps. We use this technique to digitize the shape and reflectance of a variety of objects difficult to acquire with other techniques and present validation renderings which match well to photographs in similar lighting.

In this paper we propose a model of visually guided route navigation in ants that captures the known properties of real behaviour whilst retaining mechanistic simplicity and thus biological plausibility. For an ant, the coupling of movement and viewing direction means that a familiar view specifies a familiar direction of movement. Since the views experienced along a habitual route will be more familiar, route navigation can be re-cast as a search for familiar views. This search can be performed with a simple scanning routine, a behaviour that ants have been observed to perform. We test this proposed route navigation strategy in simulation, by learning a series of routes through visually cluttered environments consisting of objects that are only distinguishable as silhouettes against the sky. In the first instance we determine view familiarity by exhaustive comparison with the set of views experienced during training. In further experiments we train an artificial neural network to perform familiarity discrimination using the training views. Our results indicate that, not only is the approach successful, but also that the routes that are learnt show many of the characteristics of the routes of desert ants. As such, we believe the model represents the only detailed and complete model of insect route guidance to date. What is more, the model provides a general demonstration that visually guided routes can be produced with parsimonious mechanisms that do not specify when or what to learn, nor separate routes into sequences of waypoints.

Abstract The PGPGrid project aims to parallelize the process of extracting range data from an experimental 3D scanner using the Grid as a vehicle for accessing necessary resources. The application is potentially highly parallel but has some unusual features such as rapid spawning of processes in real time and a dynamic inter‐process network topology. These characteristics are such as to require enhancement of the usual task migration capabilities of the Globus toolkit. The present paper initially discusses attempts to estimate the real parallelizability of the scanner application. It then describes a new Java application programming interface, based on Milner's $\pi$ ‐calculus, which could be used to extend Globus in a manner capable of supporting systems with this kind of dynamic parallel structure. The location of processing resources for the $\pi$ ‐calculus is done using a Web‐services‐based resource locator. The article also describes the pipeline of processing from initial stereo photogrametry to the final production of animation models. A key step in this is the conformation of animators models to the data obtained by the real‐time scanner. Algorithmic innovations in this process are described. Copyright © 2006 John Wiley & Sons, Ltd.

Abstract One of the goals of the HPC‐Europa project is to provide users with a single point of access (SPA) to the resources of HPC centers in Europe. To this end, the HPC‐Europa portal is being built to provide transparent, uniform, flexible and intuitive user access to HPC‐Europa resources. This portal will hide the underlying complexity and heterogeneity of these resources and the services that provide access to them. Since the computational environment of HPC‐Europa is strongly heterogeneous, even in terms of the deployed Grid middleware, we need a mechanism that maps a uniform graphical user interface to the functionality provided by services available in the institutions belonging to the HPC‐Europa consortium. In addition, accounting information has to be stored and provided on demand for both limiting resource usage and charging purposes in the HPC‐Europa infrastructure. The important goal of the SPA is also to provide the means to support user access to specific applications. This should make access to Grid infrastructures easier for end‐users. Both mechanisms (generic and application‐specific interfaces), along with additional tools, will combine to provide flexible and efficient software for building science gateways for researchers in various domains. In this paper, we describe the architecture of the SPA, which is based on the GridSphere portal framework. We present a mechanism for enabling end‐users to transparently access services available in the HPC‐Europa environment. The uniform job submission interface that uses this mechanism and is based on the Job Specification Description Language (JSDL) is presented. The mechanism supporting development of application‐specific user interfaces is also described. Finally, we discuss relevant issues and interoperability problems connected with the development of the SPA, in particular those concerning job submission, security and accounting. Copyright © 2006 John Wiley & Sons, Ltd.

Sometimes it's worth doing things badly in order to do them fast. When is this the right plan? Are some kinds of mistakes worse than others? Could the right infrastructure make trial and error programming more effective? How will it play out in the future?