The term ‘homing’ refers to the ability of an agent – either animal or robot - to find a known goal location. It is often used in the context of animal behaviour, for example when a bird or mammal returns ‘home’ after foraging for food, or when a bee returns to its hive. Visual homing, as the expression suggests, is the act of finding a home location using vision. Generally it is performed by comparing the image currently in view with ‘snapshot’ images of the home stored in the memory of the agent. A movement decision is then taken to tryand match the current and snapshot images (Nehmzow 2000).
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