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This book presents the result of a joint effort from different
European Institutions within the framework of the EU funded project
called SPARK II, devoted to device an insect brain computational
model, useful to be embedded into autonomous robotic agents. Part I
reports the biological background on Drosophila melanogaster with
particular attention to the main centers which are used as building
blocks for the implementation of the insect brain computational
model. Part II reports the mathematical approach to model the
Central Pattern Generator used for the gait generation in a
six-legged robot. Also the Reaction-diffusion principles in
non-linear lattices are exploited to develop a compact internal
representation of a dynamically changing environment for behavioral
planning. In Part III a software/hardware framework, developed to
integrate the insect brain computational model in a simulated/real
robotic platform, is illustrated. The different robots used for the
experiments are also described. Moreover the problems related to
the vision system were addressed proposing robust solutions for
object identification and feature extraction. Part IV includes the
relevant scenarios used in the experiments to test the capabilities
of the insect brain-inspired architecture taking as comparison the
biological case. Experimental results are finally reported, whose
multimedia can be found in the SPARK II web page:
www.spark2.diees.unict.it
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