2004 5th Asian Control Conference Biologically Inspired Guidance for Motion Camouflage Nicole E Carey*, Jason J Ford+ and Javaan S Chahlt *Centre for visual SCknCeS, Research school of Biologkal sciences, Australian National University. e-mail:
[email protected] Weapons Systems Division, Defence Science and Technology Organisation, and the School of Information Technology and Electrical Engineering, the Australian Deknce Force Academy. e-mail:
[email protected] Weapons Systems Division, Defence Science and Technology Organisation, and the Centre for Visual Sciences, Research SchooI of Biological Sciences, Australian National University. e-mail: javaan@~iorobotics.anu.edu.au Abstract locity cues across the retina. “The dragonfly ... bas] a neural circuit capable of signalling information about In the insect, world, dragonflies are considered to be moving objects separately from information about a amongst thc best aerial predators, and are known to complex moving background” [?I, Thus in order to use motion camouflage techniques to mask their ap approach or retreat from another dragonfly (or prey) proach. How they accomplish this remains undiscov- unseen, they have evolved a technique that allows them ered, but using traditional guidance approaches we can to appear stationary in angular location relative to the attempt to simulate this behaviour. second dragonfly. This technique is known as motion camouflage. First observed in hoverflies by Srinivasan In this paper, we consider the motion camouflage and Davey [ll],its use was noted amongst dragonffy guidance problem within a linear quadratic Gaussian populations by Mizutani, et al [9]. framework and demonstrate that the resulting guid- ance strategy is effective in achieving the camouflage The applicability of motion camouflage behaviour to requirements.