GAZE CONTROLS COOPERATING THROUGH PREDICTION

Animate vision systems, biological or robotic, employ gaze control systems to acquire and stabilize objects on their retinae, and in some animals to foveate (centre) objects. Our goal is to guild robust gaze control behaviour from cooperating lower-level visual reflexes. Predictive control strategies can cope with time delayed, multi-rate and interacting controls. Solutions are explored through simulation incorporating ten primitive gaze control capabilities, more or less comparable to subsystems in primate gaze and head control. Versions of several of the subsystems have been implemented on a binocular robot. Smith prediction is the basic control strategy, using kinematic simulation of agent and optimal filtering to predict world state. © 1990.