On Solving Inverse Problems for Electric Fish Like Robots

Mazen Alamir (1) , Oumayma Omar (1) , Noël Servagent (2) , Alexis Girin (3) , Pascal Bellemain (4) , Vincent Lebastard (3) , Pol-Bernard Gossiaux (2) , Frédéric Boyer (3) , Stéphane Bouvier (2)

1 GIPSA-SYSCO - GIPSA - Systèmes non linéaires et complexité
2 SUBATECH - Laboratoire SUBATECH Nantes
3 IRCCyN - Institut de Recherche en Communications et en Cybernétique de Nantes
4 GIPSA-Services - GIPSA-Services

This paper relates preliminary results concerning the solution of inverse problems arising in electric sense based navigation. This sense is used by electric fishes to move in dark waters using the electric current measurements perceived by the epidermal sensors as these are affected by the presence of obstacles. The latter change the resulting induced measures by instantaneously disturbing the fish self-produced electric field. The approach lies on a recently proposed graphical signature based classification methodology to overcome the computational burden associated to an explicit inversion of the mathematical equations. A preliminary validation of the proposed solution is obtained using a dedicated experimental setting.

Domaines: Automatique / Robotique

Mazen Alamir, Oumayma Omar, Noël Servagent, Alexis Girin, Pascal Bellemain, et al.. On Solving Inverse Problems for Electric Fish Like Robots. ROBIO 2010 - IEEE International Conference on Robotics and Biomimetics, Dec 2010, Tianjin, China. pp.n.c. ⟨hal-00522917⟩