Proceedings of the 2012 International Symposium on Nonlinear Theory and its Applications


Session Number:A2L-C



Real-time Visual Tracking for Cricket - Micro Robot Interaction Experiment

Kuniaki Kawabata,  Hitoshi Aonuma,  Koh Hosoda,  Jianru Xue,  


Publication Date:

Online ISSN:2188-5079


PDF download (1.6MB)

This paper describes about the trials of on-line trajectory tacking and recording for a cricket and a micro mobile robot based on particle filter from video sequence. Cricket show adaptive behavior after individual interactions and we attempt to construct a system for active interaction experiment for gathering the data related to the effect of interactions. In this manuscript, on-line tracking trials by using an applied particle filter during some interaction experiments with a micro mobile robot are done. Experimental results are shown and also discussed.


[1] Regnier, Fred E. and Law, John H. ,“Insect pheromones”, Journal of Lipid Research, 9:(5) 541-551, 1968.

[2] Aonuma, H. , and Niwa, K. , “Nitric Oxide Regulates the Levels of cGMP Accumulation in the Cricket Brain,” Acta Biologica Hungarica, 55, pp. 65-70, 2004.

[3] Sakura, M., Yoritsune, A. , and Aonuma, H. , “Fighting experiences modulate aggressive and avoidance behaviors in crickets against male cuticular substances, The 2nd International Symposium on Mobilligence, pp243-246, 2007.

[4] Ashikaga, M. , Sakura, M. , Kikuchi, M. , Hiraguchi, T. , Chiba, R. , Aonuma, H. and Ota, J. , ”Establishment of social status without individual discrimination in the cricket”, Advanced Robotics, Vol.23, No.5, pp.563-578, 2009.

[5] Alexander, R. D., “ Aggressiveness, Territorialiality, and Sexual Behavior in Field Crickets (ORTHOPTERA : GRYLLIDAE), Behaviour, Vol. 17, No. 2-3, pp130-223, 1961.

[6] Kawabata, K. , Fujiki, T. , Ikemoto, Y. , Aonuma, H., Asama, H. ,“ A Neuromodulation Model for Adaptive Behavior Selection by the Cricket - Nitric Oxide (NO)/Cyclic Guanosine MonoPhosphate (cGMP) Cascade Model -“ , Journal of Robotics and Mechatronics, Vol. 19, No.4, pp.388-394, 2007.

[7] Kawabata, K. , Fujii, T. , Aonuma, H. , Suzuki, T. , Ashikaga, M. , Ota, J. , and Asama, H.,“ A Neuro-modulation Model of Behavior Selection in the Fighting Behavior of Male Crickets ”, Robotics and Autonomous Systems, 60, pp707-713, 2012.

[8] Guerra, R. S. , Boedecker, J. , Yanagimachi, S. , Ishiguro, H. , and Asada, M. ,“ A New Minirobotics System for Teaching and Researching Agent-based Programming, ”In V. Uskov, editor, Proc. of Computers and Advanced Technology in Education 2007, October 2007.

[9] Guerra, R. S., Aonuma, H., Hosoda, K., Asada, M.,: “ Behavior Change of Crickets in a Robot-Mixed Society “ , Journal of Robotics and Mechatronics, Vol.22, No.4, pp. 526-531,2010.

[10] Ristic, B. , Arulampalam, S. , Gordon, N. ,“ Beyond the Kalman Filter: Particle Filters for Tracking Applications ”, Artech House, 2004.

[11] Isard, M. , and Blake, A. , “ CONDENSATION - conditional density propagation for visual tracking“ , International Journal of Computer Vision, 29, 1, 5-28, 1998.

[12] Mahalanobis, P. C. , On the generalised distance in statistics, Proceedings of the National Institute of Sciences of India, 2, 49-55, 1936.