Gaze controls with interactions and decays

Multibehavior control is explored in a simulation of gaze control using saccadic, vergence, pursuit, vestibulo-ocular reflex, and head control. In gaze control, several simple reflexes (or behaviors) cooperate to achieve effects such as gaze shifts, object tracking, and gaze stabilization. In the simulation, the behaviors acted like a multirate, multiinput, multioutput, time-delayed, saturated control system. Explicit coordination between behaviors was needed to let them cooperate effectively (stably, accurately) in the presence of time delays and control interactions. The coordination in this case is through a shared data structure that predicts the future state of the active agent. A behavior is assumed to know the maximum time delay of any behavior with which it shares an output. The resulting control is a form of the Smith predictor and seems to offer one general solution for this type of problem. >

[1]  A Berthoz,et al.  Mental control of the adaptive process. , 1985, Reviews of oculomotor research.

[2]  A. Pellionisz.  Tensorial aspects of the multidimensional approach to the vestibulo-oculomotor reflex and gaze. , 1985, Reviews of oculomotor research.

[3]  H Collewijn,et al.  Integration of adaptive changes of the optokinetic reflex, pursuit and the vestibulo-ocular reflex. , 1985, Reviews of oculomotor research.

[4]  B Cohen,et al.  Velocity storage and the ocular response to multidimensional vestibular stimuli. , 1985, Reviews of oculomotor research.

[5]  D. Bertsekas,et al.  Dynamic Programming and Stochastic Control , 1977, IEEE Transactions on Systems, Man, and Cybernetics.

[6]  James J. Clark,et al.  Modal Control Of An Attentive Vision System , 1988, [1988 Proceedings] Second International Conference on Computer Vision.

[7]  Dana H. Ballard,et al.  Eye Fixation And Early Vision: Kinetic Depth , 1988, [1988 Proceedings] Second International Conference on Computer Vision.

[8]  Rodney A. Brooks,et al.  A Robust Layered Control Syste For A Mobile Robot , 2022 .

[9]  O Smith,et al.  CLOSER CONTROL OF LOOPS WITH DEAD TIME , 1957 .

[10]  Rolf Eckmiller.  Neural control of foveal pursuit versus saccadic eye movements in primates — Single-unit data and models , 1983, IEEE Transactions on Systems, Man, and Cybernetics.

[11]  Dana H. Ballard,et al.  Behavioural constraints on animate vision , 1989, Image Vis. Comput..

[12]  Miles Fa,et al.  Adaptive regulation in the vergence and accommodation control systems. , 1985 .

[13]  Dana H. Ballard,et al.  Animate Vision , 1991, Artif. Intell..

[14]  Thomas J. Olson,et al.  Real time vergence control , 1989, Proceedings CVPR '89: IEEE Computer Society Conference on Computer Vision and Pattern Recognition.

[15]  J. E. Marshall,et al.  Control of Time-Delay Systems , 1981, IEEE Transactions on Systems, Man, and Cybernetics.

[16]  Otto J. M. Smith,et al.  Feedback control systems , 1958 .

[17]  E. J. Morris,et al.  Visual motion processing and sensory-motor integration for smooth pursuit eye movements. , 1987, Annual review of neuroscience.

[18]  D. A. Robinson,et al.  Why visuomotor systems don't like negative feedback and how they avoid it , 1990 .

[19]  Y. Bar-Shalom.  Tracking and data association , 1988 .

[20]  F A Miles,et al.  An adaptive equalizer model of the primate vestibulo-ocular reflex. , 1985, Reviews of oculomotor research.

[21]  P. Eykhoff.  System Identification Parameter and State Estimation , 1974 .

[22]  D. Robinson.  The coordinates of neurons in the vestibulo-ocular reflex. , 1985, Reviews of oculomotor research.

[23]  Dana H. Ballard,et al.  The Rochester Robot , 1988 .

[24]  F. Richmond,et al.  Control of head movement , 1988 .

[25]  Arthur Gelb,et al.  Applied Optimal Estimation , 1974 .