TY - JOUR
T1 - Real-time feedback-controlled robotic fish for behavioral experiments with fish schools
AU - Swain, Daniel T.
AU - Couzin, Iain D.
AU - Leonard, Naomi Ehrich
N1 - Funding Information:
Manuscript received June 30, 2011; accepted August 10, 2011. Date of publication October 19, 2011; date of current version December 21, 2011. This work was supported in part by the U.S. Office of Naval Research under Grant N00014-09-1-1074. All experimental work was carried out in accordance with federal and state regulations, and was approved by Princeton University’s Institutional Animal Care and Use Committee. D. T. Swain and N. Ehrich Leonard are with the Department of Mechanical and Aerospace Engineering, Princeton University, Princeton, NJ 08544 USA (e-mail: [email protected]; [email protected]). I. D. Couzin is with the Department of Ecology and Evolutionary Biology, Princeton University, Princeton, NJ 08544 USA (e-mail: [email protected]).
PY - 2012/1
Y1 - 2012/1
N2 - Integrating robotic agents into animal groups creates significant opportunities for advancing experimental investigations of collective animal behavior. In the case of fish schooling, new insights into processes such as collective decision making and leadership have been made in recent experiments in which live fish were interacting with robotic fish driven along preplanned paths. We introduce a new cyber-physical implementation that enables robotic fish to use real-time feedback to control their motion in response to live fish and other environmental features. Each robotic fish is magnetically connected to, and thus moved by, a wheeled robot underneath the tank. Real-time image processing of a video stream from an overhead camera provides measurements of both the robotic fish and the live fish moving together in the tank. Feedback responses computed from these measurements are communicated to the robotic fish using Bluetooth. We show results of demonstrations and discuss possibilities that our implementation affords for new kinds of behavioral experiments with fish schools.
AB - Integrating robotic agents into animal groups creates significant opportunities for advancing experimental investigations of collective animal behavior. In the case of fish schooling, new insights into processes such as collective decision making and leadership have been made in recent experiments in which live fish were interacting with robotic fish driven along preplanned paths. We introduce a new cyber-physical implementation that enables robotic fish to use real-time feedback to control their motion in response to live fish and other environmental features. Each robotic fish is magnetically connected to, and thus moved by, a wheeled robot underneath the tank. Real-time image processing of a video stream from an overhead camera provides measurements of both the robotic fish and the live fish moving together in the tank. Feedback responses computed from these measurements are communicated to the robotic fish using Bluetooth. We show results of demonstrations and discuss possibilities that our implementation affords for new kinds of behavioral experiments with fish schools.
KW - Collective decision making
KW - cyber-physical systems (CPSs)
KW - feedback control
KW - fish schooling
KW - real-time
KW - robotics
KW - video processing
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U2 - 10.1109/JPROC.2011.2165449
DO - 10.1109/JPROC.2011.2165449
M3 - Article
AN - SCOPUS:84155172783
SN - 0018-9219
VL - 100
SP - 150
EP - 163
JO - Proceedings of the IEEE
JF - Proceedings of the IEEE
IS - 1
M1 - 6053987
ER -