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| HAL : hal-00737047, version 1 |
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| 12th International Conference on Simulation of Adaptive Behavior, SAB 2012, Odense : Denmark (2012) |
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| Multimodal integration of visual place cells and grid cells for navigation tasks of a real robot |
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Adrien Jauffret 1Nicolas Cuperlier 1 |
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| AUTO-EVAL Collaboration(s) |
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| (2012) |
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| 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 ro- bust multimodal place cells. Experiments show that this model enhances robot localization and also allows to solve some benchmark problems for real life robotics applications. |
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| 1 : | Equipes Traitement de l'Information et Systèmes (ETIS) |
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CNRS : UMR8051 – ENSEA – Université de Cergy Pontoise |
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| 2 : | Laboratoire d'Informatique pour la Mécanique et les Sciences de l'Ingénieur [Orsay] (LIMSI) |
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CNRS : UPR3251 – Université Pierre et Marie Curie [UPMC] - Paris VI – Université Paris XI - Paris Sud |
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| Neurocybernétique CPU |
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| Domaine | : | Informatique/Robotique Sciences cognitives/Neurosciences Informatique/Réseau de neurones Informatique/Intelligence artificielle |
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| Grid cells – Bio-inspired robotics – Multimodal integration – Sensory-motor navigation & mapping – Neural networks |
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| Liste des fichiers attachés à ce document : | ||||||||||
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| hal-00737047, version 1 | |
| http://hal.archives-ouvertes.fr/hal-00737047 | |
| oai:hal.archives-ouvertes.fr:hal-00737047 | |
| Contributeur : Nicolas Cuperlier | |
| Soumis le : Mardi 6 Novembre 2012, 13:20:27 | |
| Dernière modification le : Mardi 6 Novembre 2012, 13:33:46 | |
