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Publication Summary and Abstract

Ben Mitchinson, Martin J Pearson, Anthony G Pipe, Tony J Prescott (2012), Predictive Prey Pursuit in a Whiskered Robot, proceedings of Towards Autonomous Robotic Systems (TAROS), Bristol, UK, Springer LNCS 7429:343-353.

Highly active small mammals need to capture prey rapidly and with a high success rate if they are to survive. We consider the case of the Etruscan shrew, which hunts prey including crickets almost as large as itself, and relies on its whiskers (vibrissae) to complete a kill. We model this hunting behaviour using a whiskered robot. Shrews strike rapidly and accurately after gathering very limited sensory information; we attempt to match this performance by using model-based simultaneous discrimination and localisation of a 'prey' robot (i.e. by using strong priors). We report performance that is comparable, given the spatial and temporal scale di erences, to shrew performance in most respects.
Copy of the article (PDF)