Control theoretic interpretation of directional motion preferences in optic flow processing interneurons.

In this article, we formalize the processing of optic flow in identified fly lobula plate tangential cells and develop a control theoretic framework that suggests how the signals of these cells may be combined and used to achieve reflex-like navigation behavior. We show that this feedback gain synthesis task can be cast as a combined static state estimation and linear feedback control problem. Our framework allows us to analyze and determine the relationship between optic flow measurements and actuator commands, which greatly simplifies the implementation of biologically inspired control architectures on terrestrial and aerial robotic platforms.