{"id":"https://openalex.org/W7140543251","doi":"https://doi.org/10.48550/arxiv.2603.23672","title":"Bio-Inspired Event-Based Visual Servoing for Ground Robots","display_name":"Bio-Inspired Event-Based Visual Servoing for Ground Robots","publication_year":2026,"publication_date":"2026-03-24","ids":{"openalex":"https://openalex.org/W7140543251","doi":"https://doi.org/10.48550/arxiv.2603.23672"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2603.23672","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.23672","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2603.23672","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5130682361","display_name":"Maral Mordad","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Mordad, Maral","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072577699","display_name":"Kian Behzad","orcid":"https://orcid.org/0000-0001-9959-2832"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Behzad, Kian","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046019468","display_name":"Debojyoti Biswas","orcid":"https://orcid.org/0000-0003-4141-4034"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Biswas, Debojyoti","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071685265","display_name":"Noah J. Cowan","orcid":"https://orcid.org/0000-0003-2502-3770"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Cowan, Noah J.","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5058687251","display_name":"Milad Siami","orcid":"https://orcid.org/0000-0001-7253-4464"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Siami, Milad","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10502","display_name":"Advanced Memory and Neural Computing","score":0.19449999928474426,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10502","display_name":"Advanced Memory and Neural Computing","score":0.19449999928474426,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.15389999747276306,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11685","display_name":"Zebrafish Biomedical Research Applications","score":0.07900000363588333,"subfield":{"id":"https://openalex.org/subfields/1307","display_name":"Cell Biology"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/observability","display_name":"Observability","score":0.5681999921798706},{"id":"https://openalex.org/keywords/visual-servoing","display_name":"Visual servoing","score":0.5070000290870667},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5034999847412109},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5034000277519226},{"id":"https://openalex.org/keywords/logarithm","display_name":"Logarithm","score":0.4602999985218048},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.44200000166893005},{"id":"https://openalex.org/keywords/event","display_name":"Event (particle physics)","score":0.39480000734329224},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.36090001463890076},{"id":"https://openalex.org/keywords/estimator","display_name":"Estimator","score":0.35600000619888306}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.578499972820282},{"id":"https://openalex.org/C36299963","wikidata":"https://www.wikidata.org/wiki/Q1369844","display_name":"Observability","level":2,"score":0.5681999921798706},{"id":"https://openalex.org/C10912380","wikidata":"https://www.wikidata.org/wiki/Q527952","display_name":"Visual servoing","level":3,"score":0.5070000290870667},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5034999847412109},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5034000277519226},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4652999937534332},{"id":"https://openalex.org/C39927690","wikidata":"https://www.wikidata.org/wiki/Q11197","display_name":"Logarithm","level":2,"score":0.4602999985218048},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4575999975204468},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.44200000166893005},{"id":"https://openalex.org/C2779662365","wikidata":"https://www.wikidata.org/wiki/Q5416694","display_name":"Event (particle physics)","level":2,"score":0.39480000734329224},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.36090001463890076},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.35600000619888306},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.34950000047683716},{"id":"https://openalex.org/C129844170","wikidata":"https://www.wikidata.org/wiki/Q41299","display_name":"Quadratic equation","level":2,"score":0.3449999988079071},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.3131999969482422},{"id":"https://openalex.org/C193611912","wikidata":"https://www.wikidata.org/wiki/Q4677596","display_name":"Active vision","level":2,"score":0.3093999922275543},{"id":"https://openalex.org/C6802819","wikidata":"https://www.wikidata.org/wiki/Q1072174","display_name":"Linear system","level":2,"score":0.3019999861717224},{"id":"https://openalex.org/C155512373","wikidata":"https://www.wikidata.org/wiki/Q287450","display_name":"Residual","level":2,"score":0.29899999499320984},{"id":"https://openalex.org/C48209547","wikidata":"https://www.wikidata.org/wiki/Q1331104","display_name":"Controllability","level":2,"score":0.29179999232292175},{"id":"https://openalex.org/C151319957","wikidata":"https://www.wikidata.org/wiki/Q752739","display_name":"Asynchronous communication","level":2,"score":0.28439998626708984},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.28299999237060547},{"id":"https://openalex.org/C74193536","wikidata":"https://www.wikidata.org/wiki/Q574844","display_name":"Kernel (algebra)","level":2,"score":0.27889999747276306},{"id":"https://openalex.org/C163175372","wikidata":"https://www.wikidata.org/wiki/Q3339222","display_name":"Linear model","level":2,"score":0.2687000036239624},{"id":"https://openalex.org/C114275822","wikidata":"https://www.wikidata.org/wiki/Q621512","display_name":"Linear dynamical system","level":3,"score":0.2637999951839447},{"id":"https://openalex.org/C57691317","wikidata":"https://www.wikidata.org/wiki/Q1289248","display_name":"Scalar (mathematics)","level":2,"score":0.2615000009536743},{"id":"https://openalex.org/C81845259","wikidata":"https://www.wikidata.org/wiki/Q290117","display_name":"Quadratic programming","level":2,"score":0.2612000107765198},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2563000023365021},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2540999948978424},{"id":"https://openalex.org/C5339829","wikidata":"https://www.wikidata.org/wiki/Q1425977","display_name":"Machine vision","level":2,"score":0.250900000333786}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2603.23672","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.23672","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2603.23672","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.23672","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Biological":[0],"sensory":[1],"systems":[2],"are":[3],"inherently":[4],"adaptive,":[5],"filtering":[6],"out":[7],"constant":[8],"stimuli":[9],"and":[10,17,97,101,109,169],"prioritizing":[11],"relative":[12],"changes,":[13],"likely":[14],"enhancing":[15],"computational":[16,170],"metabolic":[18],"efficiency.":[19],"Inspired":[20],"by":[21,57],"active":[22,152],"sensing":[23,153],"behaviors":[24],"across":[25],"a":[26,34,49,59,88,118,124,150,159],"wide":[27],"range":[28],"of":[29,83,139,172],"animals,":[30],"this":[31,93],"paper":[32],"introduces":[33],"principled":[35],"1D":[36],"event-based":[37],"visual":[38],"servoing":[39],"framework":[40],"for":[41,92],"ground":[42,162],"robots":[43],"operating":[44],"in":[45,145],"structured":[46,70],"environments.":[47],"Utilizing":[48],"Dynamic":[50],"Vision":[51],"Sensor":[52],"(DVS),":[53],"we":[54,116,148],"demonstrate":[55],"that":[56,99],"applying":[58],"fixed":[60],"spatial":[61,103],"kernel":[62],"to":[63,121],"the":[64,74,106,136,165,173],"asynchronous":[65],"event":[66,77,94,146],"stream":[67],"generated":[68],"from":[69],"logarithmic":[71],"intensity-change":[72],"patterns,":[73],"resulting":[75],"net":[76],"flux":[78],"analytically":[79],"isolates":[80],"specific":[81],"combinations":[82],"kinematic":[84],"states.":[85],"We":[86],"establish":[87],"generalized":[89],"theoretical":[90],"bound":[91],"rate":[95],"estimator":[96],"show":[98],"linear":[100,140],"quadratic":[102],"profiles":[104],"isolate":[105],"robot's":[107],"velocity":[108],"position-velocity":[110],"product,":[111],"respectively.":[112],"Leveraging":[113],"these":[114],"properties,":[115],"employ":[117],"multi-pattern":[119],"stimulus":[120],"directly":[122],"synthesize":[123],"nonlinear":[125],"state":[126,132],"feedback":[127],"term":[128],"entirely":[129],"without":[130],"traditional":[131],"estimation.":[133],"To":[134],"overcome":[135],"inescapable":[137],"loss":[138],"observability":[141],"at":[142],"equilibrium":[143],"inherent":[144],"sensing,":[147],"propose":[149],"bio-inspired":[151],"limit-cycle":[154],"controller.":[155],"Experimental":[156],"validation":[157],"on":[158],"1/10-scale":[160],"autonomous":[161],"vehicle":[163],"confirms":[164],"efficacy,":[166],"extreme":[167],"low-latency,":[168],"efficiency":[171],"proposed":[174],"direct-sensing":[175],"approach.":[176]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-03-27T00:00:00"}