# Embedded Ants-Inspired Vision and Mushroom Bodies-Inspired Neural Model for Route Following in Mobile Robots

Gabriel G Gattaux, Julien Serres, Franck Ruffier, Antoine Wystrach

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Gabriel G Gattaux, Julien Serres, Franck Ruffier, Antoine Wystrach. Embedded Ants-Inspired Vision and Mushroom Bodies-Inspired Neural Model for Route Following in Mobile Robots. 18ème Journée de l'École Doctorale Sciences du Mouvement Humain ED463 (JEDSMH 2023), May 2023, Montpellier, France., 2025. [hal-05357499](https://hal.science/hal-05357499v1)

HAL Id: hal-05357499

https://hal.science/hal-05357499v1

Submitted on 10 Nov 2025

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# Embedded Ants-Inspired Vision and Mushroom Bodies-Inspired Neural Model for Route Following in Mobile Robots

PhD candidate : Gattaux Gabriel - 10/2022

Supervisors : Julien Serres | Franck Ruffier | Antoine Wystrach

**Keywords** : Route following - Ants Navigation - Visual Navigation - Neural Model - Insect inspired robotics

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## Discussion

An efficient method for encoding, storing and decoding spatial information.

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Reduced RAM usage and resource requirements.

Low visual resolution : 10°/pixel.

Proportional controller works for simple route following.

Ability to withstand communication blackout.

Tested on 8m only.

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Visual Compass model leads to the creation of parallel routes.

Oscillations due to the refreshing rate : 3Hz.

Robot manually replaced on initials conditions.

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In an open area, the views are more familiar out of the way than in.

Importance on promixal cues.

Resource-efficient creation of tiny eyes without heavy electronics.

Neuromorphic approach.

Complete autonomous task (Back-and-forth).

ISM - Equipe SBI
Avenue de luminy
13288 Marseille
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https://ism.univ-amu.fr/

INSTITUT DES SCIENCES ETIENNE DU MOUVEMENT JULES MAREY

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Aix*Marseille université

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MINISTÈRE DES ARMÉES