» Download Article

Authors
P. Arena; L. Fortuna; M. Frasca; L. Patane; D. Barbagallo; C. Alessandro

Identifier
10.3182/20060906-3-IT-2910.00117

Index Terms
navigation control,spiking neurons,STDP

Abstract
In this paper we introduce a network of spiking neurons for navigation control. First, the robot is equipped with a system of spiking neurons able to avoid obstacles. Then, a second layer is designed with the aim of providing the robot with a target approaching system, able to direct the robot itself towards visual targets. In both cases we assume that the robot knows some a priori response to low level sensors (i.e. to contact sensors in the case of obstacles or to proximity target sensors in the case of targets) and has to learn the response to high level stimuli (i.e. distance sensors or visual input). Spike-timing-dependent-plasticity (STDP) is used to make the system able to learn high level responses.

References

[1] Arkin R. C., (1997). Behaviour Based Robotics,
    MIT Press.
[2] Arena P., Basile A., Bucolo M., Fortuna L.,
    (2003). "An object oriented segmentation on
    analog CNN chip", IEEE Trans. CAS I, Vol.
    50, no. 7, pp. 837-846.
[3] Frasca M., Arena P., Fortuna L., (2004). Bio-Inspired
     Emergent Control Of Locomotion
    Systems, World Scientific Series on Nonlinear
    Science, Series A - Vol. 48.
[4] Grossberg S., Maass W., Markram H., (2001). "Introduction:
     Spiking Neurons in Neuroscience
    and Technology", Neural Networks, special issue
     on Spiking Neurons, Vol. 14, No. 6-7, pp.
    587.
[5] Izhikevich E. M., Gally J. A., Edelman G. M.,
    (2004). "Spike-Timing Dynamics of Neuronal
    Groups", Cerebral Cortex, Vol. 14, pp. 933-
    944.
[6] Izhikevich E. M., (2004). "Which Model to Use
    for Cortical Spiking Neurons?", IEEE Trans.
    Neural Networks, Vol. 15, No. 5, 1063-1070.
[7] Izhikevich E. M., (2003). "Simple Model of Spiking
     Neurons", IEEE Trans. Neural Networks,
    Vol. 14, No. 6, 1569-1572.
[8] Pavlov I. P., (1927). Conditioned Reflexes, Oxford
    University Press, London.
[9] Thorndike E. L., (1920). "A constant error in psychological
     ratings", Journal of Applied Psychology
    , vol. 4, pp. 469-477.
[10] Song S., Miller K. D., Abbott L. F., (2000). "Competitive
      Hebbian learning through spiketiming-dependent
      plasticity", Nature Neurosci.
     , Vol. 3, pp. 919-926.
[11] Trullier O., Wiener S. I., Berthoz A., Meyer
     J.-A., (1997). "Biologically-based Artificial
     Navigation Systems: Review and prospects",
     Progress in Neurobiology, vol. 51, pp. 483-544.
[12] Verschure P. F. M. J., Kröse B. J. A., Pfeifer R.,
     (1992). "Distributed adaptive control: The
     self-organization of structured behavior",
     Robotics and Autonomous Systems, vol. 9, pp.
     181-196.
[13] Verschure P. F. M. J., Voegtlin T., Douglas R. J.,
     (2003). "Environmentally mediated synergy
     between perception and behaviour in mobile
     robots", Nature vol. 425, pp. 620-624.
[14] Webb B., Scutt T., (2000). "A simple latency
     dependent spiking neuron model of cricket
     phonotaxis", Biol. Cyber., 82(3): 247-269.
[15] Webb B., Consi T. R. (2001). Biorobotics, MIT
     Press.