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Artif Life. 2005 Winter-Spring;11(1-2):121-38.

From wheels to wings with evolutionary spiking circuits.

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  • 1Autonomous Systems Lab, Institute of Systems Engineering, Swiss Federal Institute of Technology (EPFL), CH-1015 Lausanne, Switzerland.


We give an overview of the EPFL indoor flying project, whose goal is to evolve neural controllers for autonomous, adaptive, indoor micro-flyers. Indoor flight is still a challenge because it requires miniaturization, energy efficiency, and control of nonlinear flight dynamics. This ongoing project consists of developing a flying, vision-based micro-robot, a bio-inspired controller composed of adaptive spiking neurons directly mapped into digital microcontrollers, and a method to evolve such a neural controller without human intervention. This article describes the motivation and methodology used to reach our goal as well as the results of a number of preliminary experiments on vision-based wheeled and flying robots.

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