Abstract
Bioinspired feedback controls for pursuit, tracking, and collective motion are often expressed in terms of the relative configuration between interacting agents. In practice, however, onboard sensors may not directly provide all quantities required for feedback control, necessitating estimation of unobserved quantities. This paper develops a bioinspired internal model-based estimator for reconstructing those quantities from partial sensory observations and known self-motion. State reconstruction is posed as an optimization problem that treats the relative kinematics as constraints and minimizes the disagreement between the internal model outputs and measurements from onboard sensors. Pontryagin's Maximum Principle is used to derive the necessary optimality conditions. A forward-backward algorithm is used to provide a numerical solution and a moving horizon formulation is employed for online implementation. The estimator is evaluated numerically against classical state estimators. Real-time implementation of the proposed framework on robotic hardware is demonstrated through two pursuit strategies.
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Publication details
- Journal
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- Open access
- Green open access
Cite this article
APA 7
Liu, T., Li, X., Ferreira, S. M., Galloway, K., & Halder, U. (2026). A bioinspired internal model-based online estimator for planar pursuit. https://omanscience.com/en/articles/a-bioinspired-internal-model-based-online-estimator-for-planar-pursuit
MLA 9
Liu, Tengyue, et al. "A bioinspired internal model-based online estimator for planar pursuit." https://omanscience.com/en/articles/a-bioinspired-internal-model-based-online-estimator-for-planar-pursuit.
Chicago (author–date)
Liu, Tengyue, Xincheng Li, Sofia Morales Ferreira, Kevin Galloway, and Udit Halder. 2026. "A bioinspired internal model-based online estimator for planar pursuit." https://omanscience.com/en/articles/a-bioinspired-internal-model-based-online-estimator-for-planar-pursuit.
Harvard
Liu, T., Li, X., Ferreira, S. M., Galloway, K. and Halder, U. (2026) 'A bioinspired internal model-based online estimator for planar pursuit', Available at: https://omanscience.com/en/articles/a-bioinspired-internal-model-based-online-estimator-for-planar-pursuit.
Vancouver
Liu T, Li X, Ferreira SM, Galloway K, Halder U. A bioinspired internal model-based online estimator for planar pursuit. https://omanscience.com/en/articles/a-bioinspired-internal-model-based-online-estimator-for-planar-pursuit
IEEE
T. Liu, X. Li, S. M. Ferreira, K. Galloway, and U. Halder, "A bioinspired internal model-based online estimator for planar pursuit," https://omanscience.com/en/articles/a-bioinspired-internal-model-based-online-estimator-for-planar-pursuit.