A novel topological map of place cells for autonomous robots

Authors:
Vilson L. DalleMole;Aluizio F. R. Araújo
Affiliations:
Federal Technology University of Paraná, Toledo;Federal University of Pernambuco, Recife
Venue:
ICANN'10 Proceedings of the 20th international conference on Artificial neural networks: Part II
Year:
2010

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Abstract

This paper presents a novel Topological Map of Place Cells model for autonomous robots. In such a model the robot acquires and stores perceptions using a basic memory provided by our proposed growing self-organizing map. Context sensitive cells aim to obtain Place Cells whose activation is dependent on a remembrance process that fires the recollection of stored memories from current robot perceptions. The map is a graph of interconnected and topologically organized Place Cells. The robots notion of localization is primary guided by the recollection process, while vestibular stimuli estimates and a historic of lastly visited places disambiguate conflicting simultaneously activated Place Cells. The results are promising.