TY - GEN
T1 - Attentional mechanisms for lateral line sensing through spectral analysis
AU - Akanyeti, Otar
AU - Fiazza, Camilla
AU - Fiorini, Paolo
PY - 2010/11/19
Y1 - 2010/11/19
N2 - For autonomy in underwater robotics it is essential to develop context-driven controllers, capable of leading from perception to action without human intervention. One of the key challenges in this area is to extract reliable information from noisy sensor signals in a fast and efficient manner. In this context, we present a novelty-detection mechanism for lateral line sensing; this mechanism is meant to highlight interesting stimuli and separate them from the background, by bringing into focus new frequencies appearing in the environment. The method is fast and computationally cheap; additionally, it paves the way for characterization and classification of detected novelties. We present a testing framework to explore how to integrate frequency-related, temporal and spatial information and we demonstrate the viability of this approach in a multiple dipole-source environment.
AB - For autonomy in underwater robotics it is essential to develop context-driven controllers, capable of leading from perception to action without human intervention. One of the key challenges in this area is to extract reliable information from noisy sensor signals in a fast and efficient manner. In this context, we present a novelty-detection mechanism for lateral line sensing; this mechanism is meant to highlight interesting stimuli and separate them from the background, by bringing into focus new frequencies appearing in the environment. The method is fast and computationally cheap; additionally, it paves the way for characterization and classification of detected novelties. We present a testing framework to explore how to integrate frequency-related, temporal and spatial information and we demonstrate the viability of this approach in a multiple dipole-source environment.
UR - http://www.scopus.com/inward/record.url?scp=78249289980&partnerID=8YFLogxK
U2 - 10.1007/978-3-642-15193-4_24
DO - 10.1007/978-3-642-15193-4_24
M3 - Conference Proceeding (Non-Journal item)
AN - SCOPUS:78249289980
SN - 3642151922
SN - 9783642151927
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 252
EP - 262
BT - From Animals to Animats 11 - 11th International Conference on Simulation of Adaptive Behavior, SAB 2010, Proceedings
T2 - 11th International Conference on the Simulation of Adaptive Behavior, SAB 2010
Y2 - 25 August 2010 through 28 August 2010
ER -