Evolved Neuromorphic Control for High Speed Divergence-Based Landings of MAVs

Jesse J. Hagenaars*, Federico Paredes-Vallés, Sander M. Bohté, Guido C.H.E. De Croon

*Corresponding author for this work

Research output: Contribution to journalArticleScientificpeer-review

11 Citations (Scopus)
49 Downloads (Pure)


Flying insects are capable of vision-based navigation in cluttered environments, reliably avoiding obstacles through fast and agile maneuvers, while being very efficient in the processing of visual stimuli. Meanwhile, autonomous micro air vehicles still lag far behind their biological counterparts, displaying inferior performance at a much higher energy consumption. In light of this, we want to mimic flying insects in terms of their processing capabilities, and consequently show the efficiency of this approach in the real world. This letter does so through evolving spiking neural networks for controlling landings of micro air vehicles using optical flow divergence from a downward-looking camera. We demonstrate that the resulting neuromorphic controllers transfer robustly from a highly abstracted simulation to the real world, performing fast and safe landings while keeping network spike rate minimal. Furthermore, we provide insight into the resources required for successfully solving the problem of divergence-based landing, showing that high-resolution control can be learned with only a single spiking neuron. To the best of our knowledge, this work is the first to integrate spiking neural networks in the control loop of a real-world flying robot. Videos of the experiments can be found at https://bit.ly/neuro-controller.

Original languageEnglish
Article number9149674
Pages (from-to)6239-6246
Number of pages8
JournalIEEE Robotics and Automation Letters
Issue number4
Publication statusPublished - Oct 2020


  • Aerial systems: perception and autonomy
  • autonomous vehicle navigation
  • evolutionary algorithms
  • neuromorphic computing
  • spiking neural networks

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