How to catch a falling fruit


May 6, 2015 - 1:00pm
NW 243
About the Speaker
Andrew Marantan (Mahadevan Lab)

A variety of fish engage in interceptive predatory behaviors that involve catching airborne targets such as fruits and insects falling to the surface of the water. We focus on describing how one such species (Brycon guatemalensis) can overcome noisy measurements and refraction to catch falling fruit. We provide a basis for evaluating the performance of a fish using a given control policy in the presence of noise and uncertainty and argue that a simple linear model of the physics and a linear policy are sufficient for this interception task. Finally, we provide an optimality criterion for choosing an optimal linear control policy under the assumption of Gaussianity.