DocumentCode :
2339744
Title :
A neural system for qualitative mapping and navigation in visual environments
Author :
Bachelder, Ivan A. ; Waxman, Allen M.
Author_Institution :
Lincoln Lab., MIT, Lexington, MA, USA
fYear :
1994
fDate :
7-9 Sept. 1994
Firstpage :
266
Lastpage :
277
Abstract :
We describe a real-time, view-based neural system for unsupervised exploration, adaptive map-making, and navigation within 3D environments defined by a spatially distributed set of visual landmarks inspired by on analogy to learning aspect graphs of 3D objects, the system comprises two neurocomputational architectures which respectively model place learning and cognitive mapping in the rat hippocampus. The first architecture performs unsupervised place learning by combining the "What" with the "Where", namely through conjunctions of landmark identity, pose, and egocentric gaze direction within a local sensory view of the environment. The second associatively learns action consequences by incorporating the "When", namely through conjunctions of learned places and coarsely coded robot motions. Together, these networks approximate a Markovian decision process for an environment, and consequently provide a neural substrate for exploration, environment recognition, and behavioral route planning. Preliminary results from ongoing implementations on a mobile robot called MAVIN (the Mobile Adaptive VIsual Navigator) demonstrate the potential for these capabilities.
Keywords :
mobile robots; neural nets; path planning; real-time systems; robot vision; Markovian decision process; adaptive map-making; aspect graphs; coarsely coded robot motions; cognitive mapping; egocentric gaze direction; landmark identity; mobile robot; navigation; neural system; neurocomputational architectures; place learning; qualitative mapping; rat hippocampus; real-time view-based neural system; unsupervised exploration; visual environments; visual landmarks; Autonomous agents; Hippocampus; Laboratories; Machine intelligence; Mobile robots; Motion planning; Navigation; Process planning; Real time systems; Robot motion;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
From Perception to Action Conference, 1994., Proceedings
Print_ISBN :
0-8186-6482-7
Type :
conf
DOI :
10.1109/FPA.1994.636110
Filename :
636110
Link To Document :
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