Biologically inspired vision systems in robotics

During the last years, the International Journal of Advanced Robotic Systems, under the Topic of Vision Systems, especially welcomes papers that cover any aspect of biologically inspired vision in robots. As Guest Editors of the Special Issue on “Biologically Inspired Vision Systems in Robotics,” we feel that living beings have still much to tell us about the design and development of robotics

Neurobiologically Inspired Mobile Robot Navigation and Planning

After a short review of biologically inspired navigation architectures, mainly relying on modeling the hippocampal anatomy, or at least some of its functions, we present a navigation and planning model for mobile robots. This architecture is based on a model of the hippocampal and prefrontal interactions. In particular, the system relies on the definition of a new cell type “transition cells” that encompasses traditional “place cells”

Gridbot: An autonomous robot controlled by a Spiking Neural Network mimicking the brain's navigational system

It is true that the "best" neural network is not necessarily the one with the most "brain-like" behavior. Understanding biological intelligence, however, is a fundamental goal for several distinct disciplines. Translating our understanding of intelligence to machines is a fundamental problem in robotics. Propelled by new advancements in Neuroscience, we developed a spiking neural network (SNN) that draws from mounting experimental evidence that a number of individual neurons is associated with spatial navigation. By following the brain's structure, our model assumes no initial all-to-all connectivity, which could inhibit its translation to a neuromorphic hardware, and learns an uncharted territory by mapping its identified components into a limited number of neural representations, through spike-timing dependent plasticity (STDP). In our ongoing effort to employ a bioinspired SNN-controlled robot to real-world spatial mapping applications, we demonstrate here how an SNN may robustly control an autonomous robot in mapping and exploring an unknown environment, while compensating for its own intrinsic hardware imperfections, such as partial or total loss of visual input.Comment: 8 pages, 3 Figures, International Conference on Neuromorphic Systems (ICONS 2018

A biologically inspired meta-control navigation system for the Psikharpax rat robot

A biologically inspired navigation system for the mobile rat-like robot named Psikharpax is presented, allowing for self-localization and autonomous navigation in an initially unknown environment. The ability of parts of the model (e. g. the strategy selection mechanism) to reproduce rat behavioral data in various maze tasks has been validated before in simulations. But the capacity of the model to work on a real robot platform had not been tested. This paper presents our work on the implementation on the Psikharpax robot of two independent navigation strategies (a place-based planning strategy and a cue-guided taxon strategy) and a strategy selection meta-controller. We show how our robot can memorize which was the optimal strategy in each situation, by means of a reinforcement learning algorithm. Moreover, a context detector enables the controller to quickly adapt to changes in the environment-recognized as new contexts-and to restore previously acquired strategy preferences when a previously experienced context is recognized. This produces adaptivity closer to rat behavioral performance and constitutes a computational proposition of the role of the rat prefrontal cortex in strategy shifting. Moreover, such a brain-inspired meta-controller may provide an advancement for learning architectures in robotics

Review of Neurobiologically Based Mobile Robot Navigation System Research Performed Since 2000

In an attempt to better understand how the navigation part of the brain works and to possibly create smarter and more reliable navigation systems, many papers have been written in the field of biomimetic systems. This paper presents a literature survey of state-of-the-art research performed since the year 2000 on rodent neurobiological and neurophysiologically based navigation systems that incorporate models of spatial awareness and navigation brain cells. The main focus is to explore the functionality of the cognitive maps developed in these mobile robot systems with respect to route planning, as well as a discussion/analysis of the computational complexity required to scale these systems.http://dx.doi.org/10.1155/2016/863725

Aging and functional reorganization of striatum- and Medial-Temporal Lobe-dependent memory systems

Bisherige Forschung hat zwischen zwei Gedächtnissystemen unterschieden: dem sog. deklarativen Gedächtnis (DG), welches sich durch die Fähigkeit vergangene Lebensereignisse bewusst zu erinnern auszeichnet und mit dem lobus temporalis medialis (MTL) in Verbindung steht, und dem prozeduralen Gedächtnis (PG), welches erlernte Fertigkeiten beinhaltet und mit dem Corpus striatum assoziiert ist. Weitere Studien haben ergeben, dass Alterung von neurologischen Schäden in beiden Systemen, erhöhter Aktivität im MTL und einer relativ geringeren Beeinträchtigung des PG begleitet ist. Hyperaktivität im MTL wurde dabei sowohl mit verbesserten als auch verschlechterten Gedächtnisleistungen in Verbindung gebracht. Die hier vorgelegte Dissertation befasst sich mit dem Einfluss von Alterung auf die Beziehungen zwischen o. g. Hirnnetzwerken und prozeduralen bzw. deklarativen Gedächtnisfähigkeiten. Studie I zeigte, dass Altersunterschiede in einer prozeduralen Gedächtnisaufgabe graduell im Verlaufe des Trainings entstehen und vmtl. mit negativen Einflüssen von Alterung auf den Übergang von PG zu DG in Zusammenhang stehen. Zwei striatal-dopaminerge genetische Polymorphismen, rs907094 auf DARPP-32 und VNTR auf DAT, wirkten sich dabei auf das DG älterer aber nicht jüngerer Erwachsener aus. In Studie II wurden Beeinträchtigungen im neuronalen Vorhersagefehler, einem neuronales Lernsignal im Striatum, in älteren Probanden gefunden. Studie III konnte teilweise intaktes PG in einer räumlichen Gedächtnisaufgabe demonstrieren, wobei der Polymorphismus rs17070145 auf WWC1, der sich auf Lanzeitpotenzierung im MTL auswirkt, diese Altersunterschiede modulierte. In Studie IV wurden neuronale Repräsentationen und Komputationen während einer räumlichen Gedächtnisaufgabe untersucht. Während jüngere Probanden in dieser Studie Anzeichen von MTL-basiertem DG zeigten, zeigten ältere Teilnehmer Evidenz von PG. Die neuronalen Signaturen älterer Erwachsener wurden jedoch am stärksten im MTL beobachtet.Previous research has distinguished between a declarative memory system that stores flexible representations and is subserved by the medial-temporal lobe (MTL) and a procedural memory system that expresses past experiences through skills and is based mainly on the striatum. Investigations into age-related changes in these memory systems indicated a complex pattern of neural degradation in both systems, elevated MTL activity as well as partially spared procedural memory functions in older adults. A literature review further suggests that MTL overactivity can be caused by factors which are either beneficial or detrimental for memory. The present dissertation investigated the effects of human aging on the relations of brain functions to declarative and procedural memory. In Study I, age differences in a procedural memory task gradually emerged over the course of training and were linked to negative effects of aging on the transition from procedural to declarative memory. In addition, this study showed that striatal dopaminergic genetic polymorphisms, rs907094 on DARPP-32 and VNTR on DAT, affected declarative knowledge in older but not younger adults. Study II indicated that prediction error signals in the human brain, a neural computation associated with striatal learning functions, were partially impaired in older adults. Study III demonstrated partially intact procedural memory in older adults in a spatial memory task, whereby age differences were modulated by a polymorphism influencing long-term potentiation in the MTL (rs17070145 on WWC1). Finally, Study IV showed hat that neural representations and computations subserving spatial memory qualitatively differed between younger and older adults. The performance and neural activation of younger adults showed unique properties of MTL-dependent declarative memory. Older adults, in contrast, showed behavioral and neural indications of procedural memory but the localization of the neural signatures peaked in the MTL