Guo, Z;
Yang, J;
Li, S;
Guo, L;
Chen, WH;
Friston, KJ;
(2025)
RAID-AgiVS: A Bio-Inspired Reciprocal Perceptual Control Framework for Agile Visual Servo.
IEEE Transactions on Robotics
10.1109/TRO.2025.3626647.
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Abstract
The agility of visual servo systems is essential for efficient operation in dynamic environments. However, this agility is limited by uncertainties, perceptual limitations, and the failure to integrate perception and control in conventional frameworks. In this paper, a bio-inspired Reinforced Active-Inference-Driven Agile Visual Servo (RAID-AgiVS) technology is presented to systematically elude the above limitations. Central to RAID-AgiVS is the Reinforced Sensing Mechanism that augments sparse visual measurements with fast soft measurements generated by alternating prediction and observation; thereby producing high-bandwidth data that surpasses the native sampling rate of the visual sensor. In addition, the reinforced data are employed by an active inference controller—embedded within a Reciprocal Perceptual Control structure—to introduce perceptual inference and active control actions that bolster adaptability and agility in visual servo tasks. By fusing biological adaptability with advanced data generation and analytic modeling, the RAID-AgiVS framework markedly improves performance, particularly under sensory limitations and dynamic uncertainties. Comparative evaluations on a 6-DoF manipulator—and an indoor quadrotor UAV—demonstrate the superior accuracy, agility, and adaptability of the proposed method.
| Type: | Article |
|---|---|
| Title: | RAID-AgiVS: A Bio-Inspired Reciprocal Perceptual Control Framework for Agile Visual Servo |
| Open access status: | An open access version is available from UCL Discovery |
| DOI: | 10.1109/TRO.2025.3626647 |
| Publisher version: | https://doi.org/10.1109/tro.2025.3626647 |
| Language: | English |
| Additional information: | This version is the author accepted manuscript. For information on re-use, please refer to the publisher’s terms and conditions. |
| Keywords: | Visual servo Systems, Reinforced Sensing Mechanism, Reciprocal Perceptual Control, Alternating Predictive Observer, Active Inference Control. |
| UCL classification: | UCL UCL > Provost and Vice Provost Offices > School of Life and Medical Sciences UCL > Provost and Vice Provost Offices > School of Life and Medical Sciences > Faculty of Brain Sciences UCL > Provost and Vice Provost Offices > School of Life and Medical Sciences > Faculty of Brain Sciences > UCL Queen Square Institute of Neurology UCL > Provost and Vice Provost Offices > School of Life and Medical Sciences > Faculty of Brain Sciences > UCL Queen Square Institute of Neurology > Imaging Neuroscience |
| URI: | https://discovery.ucl.ac.uk/id/eprint/10217366 |
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