Spatial cognition: Robot target localization in open arenas based on rat studies

Gonzalo Tejera, Alejandra Barrera, Jean Marc Fellous, Martin Llofriu, Alfredo Weitzenfeld

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Scopus citations

Abstract

We describe our latest work in understanding spatial localization in open arenas based on rat studies and corresponding modeling with simulated and physical robots. The studies and experiments focus on goal-oriented navigation where both rats and robots exploit distal cues to localize and find a goal in an open environment. The task involves training of both rats and robots to find the shortest path to the goal from multiple starting points in the environment. The spatial cognition model is based on the rat's brain neurophysiology of the hippocampus extending previous work by analyzing granularity of localization in relation to a varying number and position of landmarks. The robot integrates internal and external information to create a topological map of the environment and to generate shortest routes to the goal through path integration. One of the critical challenges for the robot is to analyze the similarity of positions and distinguish among different locations using visual cues and previous paths followed to reach the current position. We describe the robotics architecture used to develop, simulate and experiment with physical robots.

Original languageEnglish (US)
Title of host publicationMultisensor, Multisource Information Fusion
Subtitle of host publicationArchitectures, Algorithms, and Applications 2013
DOIs
StatePublished - Aug 12 2013
EventMultisensor, Multisource Information Fusion: Architectures, Algorithms, and Applications 2013 - Baltimore, MD, United States
Duration: Apr 30 2013May 1 2013

Publication series

NameProceedings of SPIE - The International Society for Optical Engineering
Volume8756
ISSN (Print)0277-786X
ISSN (Electronic)1996-756X

Other

OtherMultisensor, Multisource Information Fusion: Architectures, Algorithms, and Applications 2013
CountryUnited States
CityBaltimore, MD
Period4/30/135/1/13

Keywords

  • Biologically-inspired
  • Hippocampus
  • Localization
  • Navigation
  • Robotics
  • Slam
  • Spatial cognition

ASJC Scopus subject areas

  • Electronic, Optical and Magnetic Materials
  • Condensed Matter Physics
  • Computer Science Applications
  • Applied Mathematics
  • Electrical and Electronic Engineering

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    Tejera, G., Barrera, A., Fellous, J. M., Llofriu, M., & Weitzenfeld, A. (2013). Spatial cognition: Robot target localization in open arenas based on rat studies. In Multisensor, Multisource Information Fusion: Architectures, Algorithms, and Applications 2013 [87560O] (Proceedings of SPIE - The International Society for Optical Engineering; Vol. 8756). https://doi.org/10.1117/12.2020050