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The movements of birds, bats, and other flying species are governed bycomplex sensorimotor systems that allow the animals to react to stationaryenvironmental features as well as to wind disturbances, other animals in nearbyairspace, and a wide variety of unexpected challenges. The paper and talk willdescribe research that analyzes the three-dimensional trajectories of batsflying in a habitat in Texas. The trajectories are computed with stereoscopicmethods using data from synchronous thermal videos that were recorded with hightemporal and spatial resolution from three viewpoints. Following our previouslyreported work, we examine the possibility that bat trajectories in this habitatare governed by optical flow sensing that interpolates periodic distancemeasurements from echolocation. Using an idealized geometry of bat eyes, weintroduce the concept of time-to-transit, and recall some research thatsuggests that this quantity is computed by the animals' visual cortex. Severalsteering control laws based on time-to-transit are proposed for an idealizedflight model, and it is shown that these can be used to replicate the observedflight of what we identify as typical bats. Although the vision-based motioncontrol laws we propose and the protocols for switching between them are quitesimple, some of the trajectories that have been synthesized are qualitativelybat-like. Examination of the control protocols that generate these trajectoriessuggests that bat motions are governed both by their reactions to a subset ofkey feature points as well by their memories of where these feature points arelocated.

Optical Flow Sensing and the Inverse Perception Problem for Flying Bats