Robot positioning is an important function of autonomous intelligent robots. However, the application of external forces to a robot can disrupt its normal operation and cause localisation errors. We present a novel approach for detecting external disturbances based on optic flow without the use of egomotion information. Even though this research moderately validates the efficacy of the model we argue that its application is plausible to a large number of robotic systems.
['Leonidas Georgopoulos', 'Gillian M. Hayes', 'George Konidaris']
A forward model of optic flow for detecting external forces