Infoscience

Journal article

From Wheels to Wings with Evolutionary Spiking Neurons

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 non-linear flight dynamics. This ongoing project consists in developing a flying, vision-based micro-robot, a bio-inspired controller composed of adaptive spiking neurons directly mapped into digital micro- controllers, and a method to evolve such a neural controller without human intervention. This document 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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