Multimodal Integration of Visual Place Cells and Grid Cells for Navigation Tasks of a Real Robot View Full Text


Ontology type: schema:Chapter     


Chapter Info

DATE

2012

AUTHORS

Adrien Jauffret , Nicolas Cuperlier , Philippe Gaussier , Philippe Tarroux

ABSTRACT

In the present study, we propose a model of multimodal place cells merging visual and proprioceptive primitives. First we will briefly present our previous sensory-motor architecture, highlighting limitations of a visual-only based system. Then we will introduce a new model of proprioceptive localization, giving rise to the so-called grid cells, wich are congruent with neurobiological studies made on rodent. Finally we will show how a simple conditionning rule between both modalities can outperform visual-only driven models by producing robust multimodal place cells. Experiments show that this model enhances robot localization and also allows to solve some benchmark problems for real life robotics applications. More... »

PAGES

136-145

Book

TITLE

From Animals to Animats 12

ISBN

978-3-642-33092-6
978-3-642-33093-3

Identifiers

URI

http://scigraph.springernature.com/pub.10.1007/978-3-642-33093-3_14

DOI

http://dx.doi.org/10.1007/978-3-642-33093-3_14

DIMENSIONS

https://app.dimensions.ai/details/publication/pub.1011611867


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