On solving inverse problems for electric fish like robots

摘要

This paper relates preliminary results concerning the solution of inverse problems arising in electric sense based navigation. This sense is used by electric fishes to move in dark waters using the electric current measurements perceived by the epidermal sensors as these are affected by the presence of obstacles. The latter change the resulting induced measures by instantaneously disturbing the fish self-produced electric field. The approach lies on a recently proposed graphical signature based classification methodology to overcome the computational burden associated to an explicit inversion of the mathematical equations. A preliminary validation of the proposed solution is obtained using a dedicated experimental setting.