1994 Special Issue: A model of hippocampal function
Neural Networks - Special issue: models of neurodynamics and behavior
Affordances, motivations, and the world graph theory
Adaptive Behavior - Special issue on biologically inspired models of navigation
Introduction to Reinforcement Learning
Introduction to Reinforcement Learning
The Neural Simulation Language: A System for Brain Modeling
The Neural Simulation Language: A System for Brain Modeling
Learning View Graphs for Robot Navigation
Autonomous Robots - Special issue on autonomous agents
Global localization and topological map-learning for robot navigation
ICSAB Proceedings of the seventh international conference on simulation of adaptive behavior on From animals to animats
A Discussion of Simultaneous Localization and Mapping
Autonomous Robots
IEEE Transactions on Neural Networks
Hybrid robot control and SLAM for persistent navigation and mapping
Robotics and Autonomous Systems
Persistent Navigation and Mapping using a Biologically Inspired SLAM System
International Journal of Robotics Research
Comparative Experimental Studies on Spatial Memory and Learning in Rats and Robots
Journal of Intelligent and Robotic Systems
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This paper presents a robot architecture with spatial cognition and navigation capabilities that captures some properties of the rat brain structures involved in learning and memory. This architecture relies on the integration of kinesthetic and visual information derived from artificial landmarks, as well as on Hebbian learning, to build a holistic topological-metric spatial representation during exploration, and employs reinforcement learning by means of an Actor-Critic architecture to enable learning and unlearning of goal locations. From a robotics perspective, this work can be placed in the gap between mapping and map exploitation currently existent in the SLAM literature. The exploitation of the cognitive map allows the robot to recognize places already visited and to find a target from any given departure location, thus enabling goal-directed navigation. From a biological perspective, this study aims at initiating a contribution to experimental neuroscience by providing the system as a tool to test with robots hypotheses concerned with the underlying mechanisms of rats' spatial cognition. Results from different experiments with a mobile AIBO robot inspired on classical spatial tasks with rats are described, and a comparative analysis is provided in reference to the reversal task devised by O'Keefe in 1983.