{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,10,20]],"date-time":"2026-10-20T04:04:32Z","timestamp":1792469072754,"version":"4.5.0"},"reference-count":131,"publisher":"The Royal Society","issue":"233","license":[{"start":{"date-parts":[[2025,12,10]],"date-time":"2025-12-10T00:00:00Z","timestamp":1765324800000},"content-version":"vor","delay-in-days":9,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0\/"},{"start":{"date-parts":[[2025,12,10]],"date-time":"2025-12-10T00:00:00Z","timestamp":1765324800000},"content-version":"vor","delay-in-days":9,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2025,12,1]]},"abstract":"<jats:title>Abstract<\/jats:title>\n                  <jats:p>Compared with human vision, locust visual systems excel at rapid and precise collision detection, despite relying on only hundreds of thousands of neurons organized through a few neuropils. This efficiency makes them an attractive model system for developing artificial collision-detecting systems. Specifically, researchers have identified collision-selective neurons in the locust's optic lobe, called lobula giant movement detectors (LGMDs), which respond specifically to approaching objects. Research upon LGMD neurons began in the early 1970s. Initially, due to their large size, these neurons were identified as motion detectors, but their role as looming detectors was recognized over time. Since then, progress in neuroscience, computational modelling of LGMD visual neural circuits, and LGMD-based robotics has advanced in tandem, each field supporting and driving the others. Today, with a deeper understanding of LGMD neurons, LGMD-based models have significantly improved collision-free navigation in mobile robots, including ground and aerial robots. This review highlights recent developments in LGMD research from the perspectives of neuroscience, computational modelling and robotics. It emphasizes a biologically plausible research paradigm, where insights from neuroscience inform real-world applications, which would in turn validate and advance neuroscience. With strong support from extensive research and growing application demand, this paradigm has reached a mature stage and demonstrates versatility across different areas of neuroscience research, thereby enhancing our understanding of the interconnections between neuroscience, computational modelling and robotics. Furthermore, this paradigm would shed light upon the modelling and robotic research into other motion-sensitive neurons or neural circuits.<\/jats:p>","DOI":"10.1098\/rsif.2025.0433","type":"journal-article","created":{"date-parts":[[2025,12,10]],"date-time":"2025-12-10T08:49:55Z","timestamp":1765356595000},"source":"Crossref","is-referenced-by-count":4,"title":["A bio-inspired research paradigm of collision perception neurons enabling neuro-robotic integration: the LGMD case"],"prefix":"10.1098","volume":"22","author":[{"given":"Ziyan","family":"Qin","sequence":"first","affiliation":[{"name":"Guangdong Polytechnic Normal University 1 , , ,","place":["Guangzhou, Guangdong, People's Republic of China"],"department":["School of Mathematics and Systems Science"]}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jigen","family":"Peng","sequence":"additional","affiliation":[{"name":"Guangzhou University 2 , , ,","place":["Guangzhou, Guangdong, People\u2019s Republic of China"],"department":["School of Mathematics and Information Science"]}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Shigang","family":"Yue","sequence":"additional","affiliation":[{"name":"University of Leicester 3 , , ,","place":["Leicester, England, UK"],"department":["School of Computing and Mathematical Sciences"]}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5726-6956","authenticated-orcid":false,"given":"Qinbing","family":"Fu","sequence":"additional","affiliation":[{"name":"Guangzhou University 2 , , ,","place":["Guangzhou, Guangdong, People\u2019s Republic of China"],"department":["School of Mathematics and Information Science"]}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"175","published-online":{"date-parts":[[2025,12,10]]},"reference":[{"key":"2026010523070341200_R1","doi-asserted-by":"crossref","first-page":"1372","DOI":"10.1139\/z77-179","article-title":"Response of the locust descending movement detector neuron to rapidly approaching and withdrawing visual stimuli","volume":"55","author":"Schlotterer","year":"1977","journal-title":"Can. J. Zool."},{"key":"2026010523070341200_R2","doi-asserted-by":"crossref","first-page":"1029","DOI":"10.1152\/jn.1997.77.2.1029","article-title":"Signaling of object approach by the DCMD neuron of the locust","volume":"77","author":"Rind","year":"1997","journal-title":"J. Neurophysiol."},{"key":"2026010523070341200_R3","doi-asserted-by":"crossref","first-page":"273","DOI":"10.1242\/jeb.65.2.273","article-title":"The neuronal basis of a sensory analyser, the acridid movement detector system. I. Effects of simple incremental and decremental stimuli in light and dark adapted animals","volume":"65","author":"Rowell","year":"1976","journal-title":"J. Exp. Biol."},{"key":"2026010523070341200_R4","doi-asserted-by":"crossref","first-page":"289","DOI":"10.1242\/jeb.65.2.289","article-title":"The neuronal basis of a sensory analyser, the acridid movement detector system. II. Response decrement, convergence, and the nature of the excitatory afferents to the fan-like dendrites of the LGMD","volume":"65","author":"O\u2019shea","year":"1976","journal-title":"J. Exp. Biol."},{"key":"2026010523070341200_R5","doi-asserted-by":"crossref","first-page":"617","DOI":"10.1242\/jeb.65.3.617","article-title":"Neuronal basis of a sensory analyser, the acridid movement detector system. III. Control of response amplitude by tonic lateral inhibition","volume":"65","author":"Rowell","year":"1976","journal-title":"J. Exp. Biol."},{"key":"2026010523070341200_R6","doi-asserted-by":"crossref","first-page":"157","DOI":"10.1242\/jeb.68.1.157","article-title":"The neuronal basis of a sensory analyser, the acridid movement detector system. IV. The preference for small field stimuli","volume":"68","author":"Rowell","year":"1977","journal-title":"J. Exp. Biol."},{"key":"2026010523070341200_R7","doi-asserted-by":"crossref","first-page":"1000","DOI":"10.1126\/science.270.5238.1000","article-title":"Elementary computation of object approach by wide-field visual neuron","volume":"270","author":"Hatsopoulos","year":"1995","journal-title":"Science"},{"key":"2026010523070341200_R8","doi-asserted-by":"crossref","first-page":"967","DOI":"10.1152\/jn.1996.75.3.967","article-title":"Neural network based on the input organization of an identified neuron signaling impending collision","volume":"75","author":"Rind","year":"1996","journal-title":"J. Neurophysiol."},{"key":"2026010523070341200_R9","doi-asserted-by":"crossref","first-page":"203","DOI":"10.1007\/s003590050041","article-title":"Responses to object approach by a wide field visual neurone, the LGMD2 of the locust: characterization and image cues","volume":"180","author":"Simmons","year":"1997","journal-title":"J. Comp. Physiol. A"},{"key":"2026010523070341200_R10","doi-asserted-by":"crossref","first-page":"4355","DOI":"10.1113\/JP284022","article-title":"Convergent escape behaviour from distinct visual processing of impending collision in fish and grasshoppers","volume":"601","author":"Dewell","year":"2023","journal-title":"J. Physiol."},{"key":"2026010523070341200_R11","doi-asserted-by":"crossref","first-page":"129","DOI":"10.1007\/s00422-023-00961-0","article-title":"Approaching object acceleration differentially affects the predictions of neuronal collision avoidance models","volume":"117","author":"Gabbiani","year":"2023","journal-title":"Biol. Cybern."},{"key":"2026010523070341200_R12","doi-asserted-by":"crossref","first-page":"19","DOI":"10.1016\/j.jphysparis.2004.03.001","article-title":"Multiplication and stimulus invariance in a looming-sensitive neuron","volume":"98","author":"Gabbiani","year":"2004","journal-title":"J. Physiol. Paris"},{"key":"2026010523070341200_R13","doi-asserted-by":"crossref","first-page":"261","DOI":"10.1038\/1071","article-title":"Collision-avoidance: nature\u2019s many solutions","volume":"1","author":"Laurent","year":"1998","journal-title":"Nat. Neurosci."},{"key":"2026010523070341200_R14","doi-asserted-by":"crossref","first-page":"17","DOI":"10.1016\/S0921-8890(99)00063-9","article-title":"Collision avoidance using a model of the locust LGMD neuron","volume":"30","author":"Blanchard","year":"2000","journal-title":"Robot. Auton. Syst."},{"key":"2026010523070341200_R15","doi-asserted-by":"crossref","first-page":"2150","DOI":"10.1152\/jn.00411.2005","article-title":"Time-dependent activation of feed-forward inhibition in a looming-sensitive neuron","volume":"94","author":"Gabbiani","year":"2005","journal-title":"J. Neurophysiol."},{"key":"2026010523070341200_R16","doi-asserted-by":"crossref","DOI":"10.7554\/eLife.79772","article-title":"Contrast polarity-specific mapping improves efficiency of neuronal computation for collision detection","volume":"11","author":"Dewell","year":"2022","journal-title":"eLife"},{"key":"2026010523070341200_R17","doi-asserted-by":"crossref","first-page":"2240","DOI":"10.1152\/jn.00965.2004","article-title":"Spatial distribution of inputs and local receptive field properties of a wide-field, looming sensitive neuron","volume":"93","author":"Krapp","year":"2005","journal-title":"J. Neurophysiol."},{"key":"2026010523070341200_R18","doi-asserted-by":"crossref","first-page":"318","DOI":"10.1038\/nn.2259","article-title":"Spike frequency adaptation mediates looming stimulus selectivity in a collision-detecting neuron","volume":"12","author":"Peron","year":"2009","journal-title":"Nat. Neurosci."},{"key":"2026010523070341200_R19","doi-asserted-by":"crossref","DOI":"10.7554\/eLife.34238","article-title":"Biophysics of object segmentation in a collision-detecting neuron","volume":"7","author":"Dewell","year":"2018","journal-title":"eLife"},{"key":"2026010523070341200_R20","article-title":"Non-linear neuronal responses as an emergent property of afferent networks: a case study of the locust lobula giant movement detector","volume":"6","author":"Badia","year":"2010","journal-title":"PLoS Comput. Biol."},{"key":"2026010523070341200_R21","doi-asserted-by":"crossref","first-page":"245","DOI":"10.1007\/s00422-021-00876-8","article-title":"A model of feedforward, global, and lateral inhibition in the locust visual system predicts responses to looming stimuli","volume":"115","author":"Olson","year":"2021","journal-title":"Biol. Cybern."},{"key":"2026010523070341200_R22","doi-asserted-by":"crossref","first-page":"127","DOI":"10.1016\/j.neunet.2018.04.001","article-title":"Shaping the collision selectivity in a looming sensitive neuron model with parallel ON and OFF pathways and spike frequency adaptation","volume":"106","author":"Fu","year":"2018","journal-title":"Neural Networks"},{"key":"2026010523070341200_R23","doi-asserted-by":"crossref","first-page":"263","DOI":"10.1162\/artl_a_00297","article-title":"Towards computational models and applications of insect visual systems for motion perception: a review","volume":"25","author":"Fu","year":"2019","journal-title":"Artif. Life"},{"key":"2026010523070341200_R24","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1016\/j.neunet.2023.05.031","article-title":"Motion perception based on ON\/OFF channels: a survey","volume":"165","author":"Fu","year":"2023","journal-title":"Neural Networks"},{"key":"2026010523070341200_R25","doi-asserted-by":"crossref","first-page":"1078","DOI":"10.1002\/dneu.22184","article-title":"A look into the cockpit of the developing locust: looming detectors and predator avoidance","volume":"74","author":"Sztarker","year":"2014","journal-title":"Dev. Neurobiol."},{"key":"2026010523070341200_R26","doi-asserted-by":"crossref","first-page":"108896","DOI":"10.1109\/ACCESS.2020.3001396","article-title":"Improved collision perception neuronal system model with adaptive inhibition mechanism and evolutionary learning","volume":"8","author":"Fu","year":"2020","journal-title":"IEEE Access"},{"key":"2026010523070341200_R27","doi-asserted-by":"crossref","first-page":"2539","DOI":"10.1109\/TNNLS.2021.3106946","article-title":"Enhancing LGMD\u2019s looming selectivity for UAV with spatial\u2013temporal distributed presynaptic connections","volume":"34","author":"Zhao","year":"2023","journal-title":"IEEE Trans. Neural Networks Learn. Syst."},{"key":"2026010523070341200_R28","doi-asserted-by":"crossref","first-page":"518","DOI":"10.1002\/cne.25227","article-title":"The complex synaptic pathways onto a looming-detector neuron revealed using serial block-face scanning electron microscopy","volume":"530","author":"Wernitznig","year":"2022","journal-title":"J. Comp. Neurol."},{"key":"2026010523070341200_R29","doi-asserted-by":"crossref","first-page":"257","DOI":"10.1007\/BF00698057","article-title":"The anatomy and output connection of a locust visual interneurone; the lobular giant movement detector (LGMD) neurone","volume":"91","author":"O\u2019Shea","year":"1974","journal-title":"J. Comp. Physiol."},{"key":"2026010523070341200_R30","doi-asserted-by":"crossref","first-page":"256","DOI":"10.1002\/jemt.10029","article-title":"Motion detectors in the locust visual system: from biology to robot sensors","volume":"56","author":"Rind","year":"2002","journal-title":"Microsc. Res. Tech."},{"key":"2026010523070341200_R31","doi-asserted-by":"crossref","first-page":"215","DOI":"10.1016\/S0166-2236(98)01332-0","article-title":"Seeing what is coming: building collision-sensitive neurones","volume":"22","author":"Rind","year":"1999","journal-title":"Trends Neurosci."},{"key":"2026010523070341200_R32","doi-asserted-by":"crossref","first-page":"1667","DOI":"10.1152\/jn.1992.68.5.1667","article-title":"Orthopteran DCMD neuron: a reevaluation of responses to moving objects. II. Critical cues for detecting approaching objects","volume":"68","author":"Simmons","year":"1992","journal-title":"J. Neurophysiol."},{"key":"2026010523070341200_R33","doi-asserted-by":"crossref","DOI":"10.14814\/phy2.12801","article-title":"Background visual motion affects responses of an insect motion-sensitive neuron to objects deviating from a collision course","volume":"4","author":"Yakubowski","year":"2016","journal-title":"Physiol. Rep."},{"key":"2026010523070341200_R34","doi-asserted-by":"crossref","unstructured":"Fu\n              Q\n            , YueS. 2015Modelling LGMD2 visual neuron system. In2015 IEEE 25th Int. Workshop on Machine Learning for Signal Processing (MLSP), pp. 1\u20136. IEEE. (doi:10.1109\/mlsp.2015.7324313)","DOI":"10.1109\/MLSP.2015.7324313"},{"key":"2026010523070341200_R35","doi-asserted-by":"crossref","first-page":"5074","DOI":"10.1109\/TCYB.2019.2946090","article-title":"A robust collision perception visual neural network with specific selectivity to darker objects","volume":"50","author":"Fu","year":"2020","journal-title":"IEEE Trans. Cybern."},{"key":"2026010523070341200_R36","doi-asserted-by":"crossref","first-page":"4923","DOI":"10.1523\/JNEUROSCI.5777-11.2012","article-title":"Logarithmic compression of sensory signals within the dendritic tree of a collision-sensitive neuron","volume":"32","author":"Jones","year":"2012","journal-title":"J. Neurosci."},{"key":"2026010523070341200_R37","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1146\/annurev-neuro-061010-113632","article-title":"Collision detection as a model for sensory-motor integration","volume":"34","author":"Fotowat","year":"2011","journal-title":"Annu. Rev. Neurosci."},{"key":"2026010523070341200_R38","article-title":"Recent advances in insect vision in a 3D world: looming stimuli and escape behaviour","volume":"63","author":"Rind","year":"2024","journal-title":"Curr. Opin. Insect Sci."},{"key":"2026010523070341200_R39","doi-asserted-by":"crossref","first-page":"320","DOI":"10.1038\/nature01190","article-title":"Multiplicative computation in a visual neuron sensitive to looming","volume":"420","author":"Gabbiani","year":"2002","journal-title":"Nature"},{"key":"2026010523070341200_R40","doi-asserted-by":"crossref","first-page":"1122","DOI":"10.1523\/JNEUROSCI.19-03-01122.1999","article-title":"Computation of object approach by a wide-field, motion-sensitive neuron","volume":"19","author":"Gabbiani","year":"1999","journal-title":"J. Neurosci."},{"key":"2026010523070341200_R41","doi-asserted-by":"crossref","first-page":"314","DOI":"10.1523\/JNEUROSCI.21-01-00314.2001","article-title":"Invariance of angular threshold computation in a wide-field looming-sensitive neuron","volume":"21","author":"Gabbiani","year":"2001","journal-title":"J. Neurosci."},{"key":"2026010523070341200_R42","doi-asserted-by":"crossref","first-page":"8362","DOI":"10.1109\/TNNLS.2022.3149832","article-title":"A robust visual system for looming cue detection against translating motion","volume":"34","author":"Lei","year":"2023","journal-title":"IEEE Trans. Neural Networks Learn. Syst."},{"key":"2026010523070341200_R43","doi-asserted-by":"crossref","first-page":"437","DOI":"10.1016\/S0166-2236(99)01478-2","article-title":"The many ways of building collision-sensitive neurons","volume":"22","author":"Gabbiani","year":"1999","journal-title":"Trends Neurosci."},{"key":"2026010523070341200_R44","first-page":"13","article-title":"Coupling between locust photoreceptors revealed by a study of quantum bumps","volume":"125","author":"Lillywhite","year":"1978","journal-title":"J. Comp."},{"key":"2026010523070341200_R45","doi-asserted-by":"crossref","first-page":"205","DOI":"10.1007\/BF00236720","article-title":"The unit structure of the locust compound eye","volume":"195","author":"Wilson","year":"1978","journal-title":"Cell Tissue Res."},{"key":"2026010523070341200_R46","doi-asserted-by":"crossref","first-page":"595","DOI":"10.1007\/BF00214807","article-title":"Ommatidial structure in relation to turnover of photoreceptor membrane in the locust","volume":"225","author":"Williams","year":"1982","journal-title":"Cell Tissue Res."},{"key":"2026010523070341200_R47","doi-asserted-by":"crossref","first-page":"645","DOI":"10.1007\/BF00619113","article-title":"Nonlinearities in locust photoreceptors during transduction of small numbers of photons","volume":"156","author":"French","year":"1985","journal-title":"J. Comp. Physiol. A"},{"key":"2026010523070341200_R48","doi-asserted-by":"crossref","first-page":"333","DOI":"10.1007\/BF00355755","article-title":"Changes in the dynamic properties of locust photoreceptors at three levels of light adaptation","volume":"52","author":"Kuster","year":"1985","journal-title":"Biol. Cybern."},{"key":"2026010523070341200_R49","doi-asserted-by":"crossref","first-page":"167","DOI":"10.1007\/BF00342252","article-title":"Electrophysiological investigation of the optics of the locust retina","volume":"55","author":"Tunstall","year":"1967","journal-title":"Z. Vgl. Physiol."},{"key":"2026010523070341200_R50","doi-asserted-by":"crossref","first-page":"323","DOI":"10.1007\/BF00631968","article-title":"Angular sensitivity of light and dark adapted locust retinula cells","volume":"97","author":"Wilson","year":"1975","journal-title":"J. Comp. Physiol."},{"key":"2026010523070341200_R51","doi-asserted-by":"crossref","first-page":"1509","DOI":"10.1016\/j.cub.2018.04.007","article-title":"Feedforward inhibition conveys time-varying stimulus information in a collision detection circuit","volume":"28","author":"Wang","year":"2018","journal-title":"Curr. Biol."},{"key":"2026010523070341200_R52","doi-asserted-by":"crossref","first-page":"2365","DOI":"10.1016\/j.celrep.2018.04.079","article-title":"Pre-synaptic muscarinic excitation enhances the discrimination of looming stimuli in a collision-detection neuron","volume":"23","author":"Zhu","year":"2018","journal-title":"Cell Rep."},{"key":"2026010523070341200_R53","doi-asserted-by":"crossref","first-page":"298","DOI":"10.1002\/cne.23682","article-title":"Synaptic connections of first-stage visual neurons in the locust Schistocerca gregaria extend evolution of tetrad synapses back 200 million years","volume":"523","author":"Wernitznig","year":"2015","journal-title":"J. Comp. Neurol."},{"key":"2026010523070341200_R54","doi-asserted-by":"crossref","first-page":"405","DOI":"10.1002\/(SICI)1096-9861(19980808)395:3<405::AID-CNE9>3.0.CO;2-6","article-title":"Local circuit for the computation of object approach by an identified visual neuron in the locust","volume":"395","author":"Rind","year":"1998","journal-title":"J. Comp. Neurol."},{"key":"2026010523070341200_R55","doi-asserted-by":"crossref","first-page":"1713","DOI":"10.1038\/nn.4157","article-title":"Dendritic integration: 60 years of progress","volume":"18","author":"Stuart","year":"2015","journal-title":"Nat. Neurosci."},{"key":"2026010523070341200_R56","doi-asserted-by":"crossref","first-page":"115","DOI":"10.1016\/j.neuroscience.2017.06.065","article-title":"Synaptic integration in cortical inhibitory neuron dendrites","volume":"368","author":"Hu","year":"2018","journal-title":"Neuroscience"},{"key":"2026010523070341200_R57","doi-asserted-by":"crossref","first-page":"345","DOI":"10.1017\/S0952523800004831","article-title":"Mechanisms of early visual processing in the medulla of the locust optic lobe: how self-inhibition, spatial-pooling, and signal rectification contribute to the properties of transient cells","volume":"7","author":"Osorio","year":"1991","journal-title":"Vis. Neurosci."},{"key":"2026010523070341200_R58","doi-asserted-by":"crossref","first-page":"35525","DOI":"10.1038\/srep35525","article-title":"Two identified looming detectors in the locust: ubiquitous lateral connections among their inputs contribute to selective responses to looming objects","volume":"6","author":"Rind","year":"2016","journal-title":"Sci. Rep."},{"key":"2026010523070341200_R59","unstructured":"Keil\n              MS\n            \n          . 2011Emergence of multiplication in a biophysical model of a wide-field visual neuron for computing object approaches: dynamics, peaks, & fits. InAdvances in neural information processing systems 24, pp. 469\u2013477. New York, NY, USA: Curran Associates."},{"key":"2026010523070341200_R60","doi-asserted-by":"crossref","DOI":"10.1371\/journal.pcbi.1004479","article-title":"Dendritic pooling of noisy threshold processes can explain many properties of a collision-sensitive visual neuron","volume":"11","author":"Keil","year":"2015","journal-title":"PLoS Comput. Biol."},{"key":"2026010523070341200_R61","doi-asserted-by":"crossref","unstructured":"Keil\n              MS\n            , Rodriguez-VazquezA. 2003Toward a computational approach for collision avoidance with real-world scenes. InProc. SPIE 5119, Bioengineered and Bioinspired Systems. SPIE. (doi:10.1117\/12.499054)","DOI":"10.1117\/12.499054"},{"key":"2026010523070341200_R62","unstructured":"Keil\n              MS\n            , Rodriguez-VazquezA. 2004A neural model of the locust visual system for detection of object approaches with real-world scenes. InProc. of the 4th IASTED Int. Conf. on Visualization, Imaging, and Image Processing, pp. 340\u2013345. IASTED."},{"key":"2026010523070341200_R63","doi-asserted-by":"crossref","first-page":"1591","DOI":"10.1016\/j.neucom.2005.06.017","article-title":"A bio-inspired visual collision detection mechanism for cars: optimisation of a model of a locust neuron to a novel environment","volume":"69","author":"Yue","year":"2006","journal-title":"Neurocomputing"},{"key":"2026010523070341200_R64","doi-asserted-by":"crossref","first-page":"705","DOI":"10.1109\/TNN.2006.873286","article-title":"Collision detection in complex dynamic scenes using an LGMD-based visual neural network with feature enhancement","volume":"17","author":"Yue","year":"2006","journal-title":"IEEE Trans. Neural Networks"},{"key":"2026010523070341200_R65","doi-asserted-by":"crossref","first-page":"241","DOI":"10.1109\/TCDS.2016.2574624","article-title":"Bio-inspired embedded vision system for autonomous micro-robots: the LGMD case","volume":"9","author":"Hu","year":"2017","journal-title":"IEEE Trans. Cogn. Dev. Syst."},{"key":"2026010523070341200_R66","doi-asserted-by":"crossref","unstructured":"Zhao\n              J\n            , HuC, ZhangC, WangZ, YueS. 2018A bio-inspired collision detector for small quadcopter. In2018 Int. Joint Conf. on Neural Networks (IJCNN). New York, NY, USA: IEEE. (doi:10.1109\/ijcnn.2018.8489298)","DOI":"10.1109\/IJCNN.2018.8489298"},{"key":"2026010523070341200_R67","doi-asserted-by":"crossref","first-page":"046002","DOI":"10.1088\/1748-3190\/ab1a9c","article-title":"Self-supervised learning of the biologically-inspired obstacle avoidance of hexapod walking robot","volume":"14","author":"\u010c\u00ed\u017eek","year":"2019","journal-title":"Bioinspir. Biomim."},{"key":"2026010523070341200_R68","doi-asserted-by":"crossref","unstructured":"Salt\n              L\n            , IndiveriG, SandamirskayaY. 2017Obstacle avoidance with LGMD neuron: towards a neuromorphic UAV implementation. In2017 IEEE Int. Symp. on Circuits and Systems (ISCAS), pp. 1\u20134. New York, NY, USA: IEEE. (doi:10.1109\/iscas.2017.8050976)","DOI":"10.1109\/ISCAS.2017.8050976"},{"key":"2026010523070341200_R69","doi-asserted-by":"crossref","unstructured":"Shigang\n              Y\n            , RindFC. 2009Near range path navigation using LGMD visual neural networks. In2009 2nd IEEE Int. Conf. on Computer Science and Information Technology, pp. 105\u2013109. New York, NY, USA: IEEE. (doi:10.1109\/iccsit.2009.5234439)","DOI":"10.1109\/ICCSIT.2009.5234439"},{"key":"2026010523070341200_R70","doi-asserted-by":"crossref","first-page":"151","DOI":"10.1007\/s10514-009-9157-4","article-title":"Reactive direction control for a mobile robot: a locust-like control of escape direction emerges when a bilateral pair of model locust visual neurons are integrated","volume":"28","author":"Yue","year":"2010","journal-title":"Auton. Robot."},{"key":"2026010523070341200_R71","doi-asserted-by":"crossref","unstructured":"Meng\n              H\n            , YueS, HunterA, AppiahK, HobdenM, PriestleyN, HobdenP, PettitC. 2009A modified neural network model for lobula giant movement detector with additional depth movement feature. In2009 Int. Joint Conf. on Neural Networks, pp. 2078\u20132083. New York, NY, USA: IEEE. (doi:10.1109\/ijcnn.2009.5179023)","DOI":"10.1109\/IJCNN.2009.5179023"},{"key":"2026010523070341200_R72","first-page":"217","volume-title":"A modified LGMD based neural network for automatic collision detection","author":"Silva","year":"2014"},{"key":"2026010523070341200_R73","doi-asserted-by":"crossref","first-page":"22","DOI":"10.1016\/j.neunet.2023.06.039","article-title":"A look into feedback neural computation upon collision selectivity","volume":"166","author":"Chang","year":"2023","journal-title":"Neural Networks"},{"key":"2026010523070341200_R74","doi-asserted-by":"crossref","DOI":"10.1016\/j.neucom.2024.128110","article-title":"Feedback neural computation in collision perception: towards diverse selectivity","volume":"598","author":"Chang","year":"2024","journal-title":"Neurocomputing"},{"key":"2026010523070341200_R75","doi-asserted-by":"crossref","unstructured":"Cizek\n              P\n            , MilickaP, FaiglJ. 2017Neural based obstacle avoidance with CPG controlled hexapod walking robot. In2017 Int. Joint Conf. on Neural Networks (IJCNN), Anchorage, AK, USA, pp. 650\u2013656. New York, NY, USA: IEEE. (doi:10.1109\/IJCNN.2017.7965914)","DOI":"10.1109\/IJCNN.2017.7965914"},{"key":"2026010523070341200_R76","first-page":"80","volume-title":"IFIP advances in information and communication technology artificial intelligence applications and innovations","author":"Zhao","year":"2019"},{"key":"2026010523070341200_R77","doi-asserted-by":"crossref","DOI":"10.3390\/biomimetics9010022","article-title":"An angular acceleration based looming detector for moving UAVs","volume":"9","author":"Zhao","year":"2024","journal-title":"Biomimetics"},{"key":"2026010523070341200_R78","doi-asserted-by":"crossref","unstructured":"Wu\n              C\n            , ShuangF, WangH, ZhaoJ, YueS. 2022Dynamic powerlines detection for uavs by attention fused looming detector. InThe 2022 Int. Joint Conf. on Neural Networks. New York, NY: IEEE. (doi:10.1109\/IJCNN55064.2022.9892035)","DOI":"10.1109\/IJCNN55064.2022.9892035"},{"key":"2026010523070341200_R79","doi-asserted-by":"crossref","unstructured":"Badia\n              S\n            , VerschureP. 2004A collision avoidance model based on the lobula giant movement detector (LGMD) neuron of the locust. In2004 IEEE Int. Joint Conf. on Neural Networks (IEEE Cat. No.04CH37541), vol. 3, pp. 1757\u20131761, New York, NY, USA: IEEE. (doi:10.1109\/IJCNN.2004.1380872)","DOI":"10.1109\/IJCNN.2004.1380872"},{"key":"2026010523070341200_R80","doi-asserted-by":"crossref","first-page":"759","DOI":"10.1177\/0278364907080253","article-title":"A fly-locust based neuronal control system applied to an unmanned aerial vehicle: the invertebrate neuronal principles for course stabilization, altitude control and collision avoidance","volume":"26","author":"Bermudez i Badia","year":"2007","journal-title":"Int. J. Robot. Res."},{"key":"2026010523070341200_R81","doi-asserted-by":"crossref","first-page":"93","DOI":"10.1162\/artl.2007.13.2.93","article-title":"A synthetic vision system using directionally selective motion detectors to recognize collision","volume":"13","author":"Yue","year":"2007","journal-title":"Artif. Life"},{"key":"2026010523070341200_R82","article-title":"Bio-inspired vision mimetics toward next-generation collision-avoidance automation","volume":"4","author":"Xu","year":"2023","journal-title":"Innov."},{"key":"2026010523070341200_R83","doi-asserted-by":"crossref","DOI":"10.3389\/fnins.2023.1247227","article-title":"Enhancing LGMD-based model for collision prediction via binocular structure","volume":"17","author":"Zheng","year":"2023","journal-title":"Front. Neurosci."},{"key":"2026010523070341200_R84","doi-asserted-by":"crossref","unstructured":"Fu\n              Q\n            , YueS, HuC. 2016Bio-inspired collision detector with enhanced selectivity for ground robotic vision system. InBritish Machine Vision Conf, pp. 1\u201313. Durham, UK: BMVA Press. (doi:10.5244\/C.30.6)","DOI":"10.5244\/C.30.6"},{"key":"2026010523070341200_R85","doi-asserted-by":"crossref","unstructured":"Fu\n              Q\n            , HuC, LiuT, YueS. 2017Collision selective LGMDs neuron models research benefits from a vision-based autonomous micro robot. In2017 IEEE\/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), pp. 3996\u20134002. New York, NY, USA: IEEE. (doi:10.1109\/iros.2017.8206254)","DOI":"10.1109\/IROS.2017.8206254"},{"key":"2026010523070341200_R86","doi-asserted-by":"crossref","unstructured":"Li\n              J\n            , SunX, LiH, PengJ, FuQ. 2023On the Ensemble of Collision Perception Neuron Models Towards Ultra-Selectivity. In2023 Int. Joint Conf. on Neural Networks (IJCNN), Gold Coast, Australia. New York, NY, USA: IEEE. (doi:10.1109\/IJCNN54540.2023.10191446)","DOI":"10.1109\/IJCNN54540.2023.10191446"},{"key":"2026010523070341200_R87","doi-asserted-by":"crossref","DOI":"10.3389\/frobt.2021.529872","article-title":"Robustness of bio-inspired visual systems for collision prediction in critical robot traffic","volume":"8","author":"Fu","year":"2021","journal-title":"Front. Robot. AI"},{"key":"2026010523070341200_R88","doi-asserted-by":"crossref","first-page":"106","DOI":"10.1016\/j.neunet.2023.05.033","article-title":"An insect-inspired model facilitating autonomous navigation by incorporating goal approaching and collision avoidance","volume":"165","author":"Sun","year":"2023","journal-title":"Neural Networks"},{"key":"2026010523070341200_R89","doi-asserted-by":"crossref","unstructured":"Chen\n              T\n            , SunX, FuQ, QinZ, PengJ. 2024A bio-inspired and solely vision-based model for autonomous navigation. In2024 Int. Joint Conf. on Neural Networks (IJCNN), pp. 1\u20138. New York, NY, USA: IEEE. (doi:10.1109\/IJCNN60899.2024.10651033)","DOI":"10.1109\/IJCNN60899.2024.10651033"},{"key":"2026010523070341200_R90","doi-asserted-by":"crossref","unstructured":"Feng\n              L\n            , SunX, FuQ, PengJ, LiH. 2024Improving the performance of an insect-inspired navigation model using directional selective collision detection. In2024 Int. Joint Conf. on Neural Networks (IJCNN), pp. 1\u20138. New York, NY, USA: IEEE. (doi:10.1109\/IJCNN60899.2024.10651372)","DOI":"10.1109\/IJCNN60899.2024.10651372"},{"key":"2026010523070341200_R91","doi-asserted-by":"crossref","unstructured":"Ghosh\n              A\n            , NowotnyT, KnightJC. 2023Insect-inspired spatio-temporal downsampling of event-based input. InProc. of the 2023 Int. Conf. on Neuromorphic Systems. New York, NY, USA: ICONS \u201923. Association for Computing Machinery. (doi:10.1145\/3589737.3605994)","DOI":"10.1145\/3589737.3605994"},{"key":"2026010523070341200_R92","doi-asserted-by":"crossref","first-page":"103","DOI":"10.1007\/s00138-024-01582-8","article-title":"An insect vision-inspired neuromorphic vision systems in low-light obstacle avoidance for intelligent vehicles","volume":"35","author":"Wang","year":"2024","journal-title":"Mach. Vis. Appl."},{"key":"2026010523070341200_R93","doi-asserted-by":"crossref","first-page":"2978","DOI":"10.1109\/TBME.2024.3404976","article-title":"A biomimetic visual detection model: event-driven LGMDs implemented with fractional spiking neuron circuits","volume":"71","author":"Deng","year":"2024","journal-title":"IEEE Trans. Biomed. Eng."},{"key":"2026010523070341200_R94","doi-asserted-by":"crossref","first-page":"3305","DOI":"10.1109\/TNNLS.2019.2941506","article-title":"Parameter optimization and learning in a spiking neural network for UAV obstacle avoidance targeting neuromorphic processors","volume":"31","author":"Salt","year":"2020","journal-title":"IEEE Trans. Neural Networks Learn. Syst."},{"key":"2026010523070341200_R95","article-title":"An opponent colour LGMD neural network for collision detection at night with thermal camera","author":"Zhang","year":"2023","journal-title":"SSRN"},{"key":"2026010523070341200_R96","doi-asserted-by":"crossref","first-page":"1033","DOI":"10.1017\/S0140525X01000127","article-title":"Can robots make good models of biological behaviour?","volume":"24","author":"Webb","year":"2001","journal-title":"Behav. Brain Sci."},{"key":"2026010523070341200_R97","doi-asserted-by":"crossref","first-page":"9173","DOI":"10.1523\/JNEUROSCI.0638-19.2019","article-title":"Dendritic spikes expand the range of well tolerated population noise structures","volume":"39","author":"Poleg-Polsky","year":"2019","journal-title":"J. Neurosci."},{"key":"2026010523070341200_R98","doi-asserted-by":"crossref","DOI":"10.1016\/j.array.2022.100272","article-title":"Harmonizing motion and contrast vision for robust looming detection","volume":"17","author":"Fu","year":"2023","journal-title":"Array"},{"key":"2026010523070341200_R99","doi-asserted-by":"crossref","first-page":"51","DOI":"10.1038\/nrn3136","article-title":"Normalization as a canonical neural computation","volume":"13","author":"Carandini","year":"2012","journal-title":"Nat. Rev. Neurosci."},{"key":"2026010523070341200_R100","doi-asserted-by":"crossref","unstructured":"Rojas-Perez\n              LO\n            , Martinez-CarranzaJ. 2017Metric monocular SLAM and colour segmentation for multiple obstacle avoidance in autonomous flight. In2017 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS), Linkoping, Sweden, pp. 234\u2013239. New York, NY, USA: IEEE. (doi:10.1109\/RED-UAS.2017.8101672)","DOI":"10.1109\/RED-UAS.2017.8101672"},{"key":"2026010523070341200_R101","doi-asserted-by":"crossref","unstructured":"Cigla\n              C\n            , BrockersR, MatthiesL. 2017Image-based visual perception and representation for collision avoidance. In2017 IEEE Conf. on Computer Vision and Pattern Recognition Workshops (CVPRW), Honolulu, HI, USA, pp. 421\u2013429. New York, NY, USA: IEEE. (doi:10.1109\/CVPRW.2017.57)","DOI":"10.1109\/CVPRW.2017.57"},{"key":"2026010523070341200_R102","doi-asserted-by":"crossref","unstructured":"Macias-Garcia\n              E\n            , Galeana-PerezD, Bayro-CorrochanoE. 2020CNN based perception system for collision avoidance in mobile robots using stereo vision. In2020 Int. Joint Conf. on Neural Networks (IJCNN), Glasgow, UK. New York, NY, USA: IEEE. (doi:10.1109\/IJCNN48605.2020.9206747)","DOI":"10.1109\/IJCNN48605.2020.9206747"},{"key":"2026010523070341200_R103","doi-asserted-by":"crossref","first-page":"1287","DOI":"10.1049\/iet-rsn.2019.0409","article-title":"Memory-enhanced cognitive radar for autonomous navigation","volume":"14","author":"Reich","year":"2020","journal-title":"IET Radar Sonar Navig."},{"key":"2026010523070341200_R104","doi-asserted-by":"crossref","DOI":"10.1016\/j.phycom.2022.101815","article-title":"Wireless ultraviolet light MIMO assisted UAV direction perception and collision avoidance method","volume":"54","author":"Zhao","year":"2022","journal-title":"Phys. Commun."},{"key":"2026010523070341200_R105","doi-asserted-by":"crossref","first-page":"237","DOI":"10.1038\/nature24626","article-title":"Ultra-selective looming detection from radial motion opponency","volume":"551","author":"Klapoetke","year":"2017","journal-title":"Nature"},{"key":"2026010523070341200_R106","doi-asserted-by":"crossref","first-page":"1073","DOI":"10.1016\/j.cub.2019.01.079","article-title":"Neural basis for looming size and velocity encoding in the Drosophila giant fiber escape pathway","volume":"29","author":"Ache","year":"2019","journal-title":"Curr. Biol."},{"key":"2026010523070341200_R107","doi-asserted-by":"crossref","first-page":"2052","DOI":"10.1016\/j.cub.2010.10.025","article-title":"Synchronized neural input shapes stimulus selectivity in a collision-detecting neuron","volume":"20","author":"Jones","year":"2010","journal-title":"Curr. Biol."},{"key":"2026010523070341200_R108","doi-asserted-by":"crossref","first-page":"159","DOI":"10.1152\/jn.00660.2006","article-title":"Influence of electrotonic structure and synaptic mapping on the receptive field properties of a collision-detecting neuron","volume":"97","author":"Peron","year":"2007","journal-title":"J. Neurophysiol."},{"key":"2026010523070341200_R109","doi-asserted-by":"crossref","first-page":"3101","DOI":"10.1152\/jn.00044.2016","article-title":"Fine and distributed subcellular retinotopy of excitatory inputs to the dendritic tree of a collision-detecting neuron","volume":"115","author":"Zhu","year":"2016","journal-title":"J. Neurophysiol."},{"key":"2026010523070341200_R110","doi-asserted-by":"crossref","first-page":"2049","DOI":"10.1152\/jn.00356.2018","article-title":"Optogenetic manipulation of medullary neurons in the locust optic lobe","volume":"120","author":"Wang","year":"2018","journal-title":"J. Neurophysiol."},{"key":"2026010523070341200_R111","doi-asserted-by":"crossref","first-page":"1753","DOI":"10.1152\/jn.00363.2018","article-title":"M current regulates firing mode and spike reliability in a collision-detecting neuron","volume":"120","author":"Dewell","year":"2018","journal-title":"J. Neurophysiol."},{"key":"2026010523070341200_R112","doi-asserted-by":"crossref","first-page":"691","DOI":"10.1152\/jn.00048.2019","article-title":"Active membrane conductances and morphology of a collision detection neuron broaden its impedance profile and improve discrimination of input synchrony","volume":"122","author":"Dewell","year":"2019","journal-title":"J. Neurophysiol."},{"key":"2026010523070341200_R113","doi-asserted-by":"crossref","first-page":"389","DOI":"10.1007\/s00359-012-0716-3","article-title":"Columnar cells necessary for motion responses of wide-field visual interneurons in Drosophila","volume":"198","author":"Schnell","year":"2012","journal-title":"J. Comp. Physiol."},{"key":"2026010523070341200_R114","doi-asserted-by":"crossref","first-page":"R851","DOI":"10.1016\/j.cub.2013.08.018","article-title":"Brain connectivity: revealing the fly visual motion circuit","volume":"23","author":"Gilbert","year":"2013","journal-title":"Curr. Biol."},{"key":"2026010523070341200_R115","doi-asserted-by":"crossref","first-page":"703","DOI":"10.1016\/j.asd.2017.06.003","article-title":"Optic flow-based collision-free strategies: from insects to robots","volume":"46","author":"Serres","year":"2017","journal-title":"Arthropod Struct. Dev."},{"key":"2026010523070341200_R116","doi-asserted-by":"crossref","first-page":"13","DOI":"10.1016\/j.neunet.2020.11.018","article-title":"Artificial fly visual joint perception neural network inspired by multiple-regional collision detection","volume":"135","author":"Li","year":"2021","journal-title":"Neural Networks"},{"key":"2026010523070341200_R117","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1007\/BF01464710","article-title":"Visual control of flight behaviour in the hoverfly Syritta pipiens L","volume":"99","author":"Collett","year":"1975","journal-title":"J. Comp. Physiol."},{"key":"2026010523070341200_R118","doi-asserted-by":"crossref","first-page":"541","DOI":"10.1038\/362541a0","article-title":"Feature-detecting neurons in dragonflies","volume":"362","author":"O\u2019Carroll","year":"1993","journal-title":"Nature"},{"key":"2026010523070341200_R119","doi-asserted-by":"crossref","DOI":"10.1371\/journal.pone.0002784","article-title":"A model for the detection of moving targets in visual clutter inspired by insect physiology","volume":"3","author":"Wiederman","year":"2008","journal-title":"PLoS One"},{"key":"2026010523070341200_R120","doi-asserted-by":"crossref","unstructured":"Halupka\n              KJ\n            , WiedermanSD, CazzolatoBS, O\u2019CarrollDC. 2011Discrete implementation of biologically inspired image processing for target detection. In2011 7th Int. Conf. on Intelligent Sensors, Sensor Networks and Information Processing, pp. 143\u2013148. New York, NY, USA: IEEE. (doi:10.1109\/issnip.2011.6146617)","DOI":"10.1109\/ISSNIP.2011.6146617"},{"key":"2026010523070341200_R121","doi-asserted-by":"crossref","first-page":"046030","DOI":"10.1088\/1741-2552\/aa776c","article-title":"An autonomous robot inspired by insect neurophysiology pursues moving features in natural environments","volume":"14","author":"Bagheri","year":"2017","journal-title":"J. Neural Eng."},{"key":"2026010523070341200_R122","doi-asserted-by":"crossref","first-page":"6340","DOI":"10.1109\/TCYB.2022.3170699","article-title":"Attention and prediction-guided motion detection for low-contrast small moving targets","volume":"53","author":"Wang","year":"2023","journal-title":"IEEE Trans. Cybern."},{"key":"2026010523070341200_R123","doi-asserted-by":"crossref","first-page":"R847","DOI":"10.1016\/j.cub.2022.06.051","article-title":"Feature maps: how the insect visual system organizes information","volume":"32","author":"Vashistha","year":"2022","journal-title":"Curr. Biol."},{"key":"2026010523070341200_R124","doi-asserted-by":"crossref","first-page":"2400198","DOI":"10.1002\/aisy.202400198","article-title":"Looming detection in complex dynamic visual scenes by interneuronal coordination of motion and feature pathways","volume":"6","author":"Gu","year":"2024","journal-title":"Adv. Intell. Syst."},{"key":"2026010523070341200_R125","doi-asserted-by":"crossref","unstructured":"Fu\n              Q\n            , YueS. 2020Complementary visual neuronal systems model for collision sensing. In2020 5th Int. Conf. on Advanced Robotics and Mechatronics (ICARM), pp. 609\u2013615. New York, NY, USA: IEEE. (doi:10.1109\/icarm49381.2020.9195303)","DOI":"10.1109\/ICARM49381.2020.9195303"},{"key":"2026010523070341200_R126","article-title":"OppLoD- the opponency based looming detector, model extension of looming sensitivity from LGMD to LPLC2","author":"Shuang","year":"2023","journal-title":"arXiv"},{"key":"2026010523070341200_R127","doi-asserted-by":"crossref","first-page":"139","DOI":"10.1038\/s41586-024-07686-5","article-title":"Whole-brain annotation and multi-connectome cell typing of Drosophila","volume":"634","author":"Schlegel","year":"2024","journal-title":"Nature"},{"key":"2026010523070341200_R128","doi-asserted-by":"crossref","first-page":"124","DOI":"10.1038\/s41586-024-07558-y","article-title":"Neuronal wiring diagram of an adult brain","volume":"634","author":"Dorkenwald","year":"2024","journal-title":"Nature"},{"key":"2026010523070341200_R129","doi-asserted-by":"crossref","first-page":"166","DOI":"10.1038\/s41586-024-07981-1","article-title":"Neuronal parts list and wiring diagram for a visual system","volume":"634","author":"Matsliah","year":"2024","journal-title":"Nature"},{"key":"2026010523070341200_R130","doi-asserted-by":"crossref","first-page":"210","DOI":"10.1038\/s41586-024-07763-9","article-title":"A Drosophila computational brain model reveals sensorimotor processing","volume":"634","author":"Shiu","year":"2024","journal-title":"Nature"},{"key":"2026010523070341200_R131","doi-asserted-by":"crossref","first-page":"181","DOI":"10.1038\/s41586-024-07967-z","article-title":"Connectomic reconstruction predicts visual features used for navigation","volume":"634","author":"Garner","year":"2024","journal-title":"Nature"}],"container-title":["Journal of the Royal Society Interface"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/royalsocietypublishing.org\/rsif\/article-pdf\/doi\/10.1098\/rsif.2025.0433\/4416839\/rsif.2025.0433.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"syndication"},{"URL":"https:\/\/royalsocietypublishing.org\/rsif\/article-pdf\/doi\/10.1098\/rsif.2025.0433\/4416839\/rsif.2025.0433.pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,1,6]],"date-time":"2026-01-06T04:07:27Z","timestamp":1767672447000},"score":1,"resource":{"primary":{"URL":"https:\/\/royalsocietypublishing.org\/rsif\/article\/22\/233\/20250433\/364005\/A-bio-inspired-research-paradigm-of-collision"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,12,1]]},"references-count":131,"journal-issue":{"issue":"233","published-print":{"date-parts":[[2025,12,1]]}},"URL":"https:\/\/doi.org\/10.1098\/rsif.2025.0433","relation":{},"ISSN":["1742-5662"],"issn-type":[{"value":"1742-5662","type":"electronic"}],"subject":[],"published":{"date-parts":[[2025,12,1]]},"article-number":"20250433"}}