Robustness Study of a Multimodal Compass Inspired from HD-Cells and Dynamic Neural Fields View Full Text


Ontology type: schema:Chapter     


Chapter Info

DATE

2014

AUTHORS

Pierre Delarboulas , Philippe Gaussier , Ramesh Caussy , Mathias Quoy

ABSTRACT

In this paper, we study a robust multi modal compass for a vision based navigation system. The model mimics several aspects of the head direction cells found in the postsubiculum of the rat. Idiothetic information is recalibrated according to the learning of visual stimuli associated to robust landmarks. The model is based on dynamic neural fields allowing building attractors associated to the compass direction. The novelty of the model relies in the way the decision of the sensor fusion is re-injected in the visual compass allowing a robust decision-making. Robotics experiments show the capability of the model to merge different sources of information when their predictions are coherent. When the information become incoherent because the inputs propose quite different directions, the system is able to bifurcate on one coherent solution in order to maintain the temporal coherency of its behavior. More... »

PAGES

132-143

Book

TITLE

From Animals to Animats 13

ISBN

978-3-319-08863-1
978-3-319-08864-8

Identifiers

URI

http://scigraph.springernature.com/pub.10.1007/978-3-319-08864-8_13

DOI

http://dx.doi.org/10.1007/978-3-319-08864-8_13

DIMENSIONS

https://app.dimensions.ai/details/publication/pub.1000302273


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