Real-time obstacle avoidance for manipulators and mobile robots
International Journal of Robotics Research
Neural Networks - Special issue: models of neurodynamics and behavior
Learning reactive and planning rules in a motivationally autonomousanimat
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Learning and communication via imitation: an autonomous robot perspective
IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans
Dynamical neural networks for planning and low-level robot control
IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans
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We have developped a mobile robot control system based on hippocampus and prefrontal models. We propose an alternative to models that rely on cognitive maps linking place cells. Our experiments show that using transition cells is more efficient than using place cells. The transition cell links two locations with the integrated direction used. Furthermore, it is possible to fuse the different directions proposed by nearby transitions and obstacles into an effective direction by using a Neural Field. The direction to follow is the stable fixed point of the Neural Field dynamics, and its derivative gives the angular rotation speed. Simulations and robotics experiments are carried out.