As bullants, bats, and dolphins navigate in their environments they exhibit oscillatory as they move. The objective of this project to try to explain this behaviour from a systems theoretic perspective by using the notions of observability and persistence of excitation. To this aim, in this project the sensing capabilities of such animals will be studied (e.g. echo location using doppler, optical flow, etc.) and the impact of such oscillatory motions on their ability to figure out their position in the world and locate the prey will be rigorously investigated. This project is relation to the AUSMURI Neuroautonomy project. Neuroscience-Inspired Perception, Navigation, and Spatial Awareness for Autonomous Robots – Iman Shames