Past, Present, and Future of Simultaneous Localization And Mapping: Towards the Robust-Perception Age

Simultaneous Localization and Mapping (SLAM)consists in the concurrent construction of a model of the environment (the map), and the estimation of the state of the robot moving within it. The SLAM community has made astonishing progress over the last 30 years, enabling large-scale real-world applications, and witnessing a steady transition of this technology to industry. We survey the current state of SLAM. We start by presenting what is now the de-facto standard formulation for SLAM. We then review related work, covering a broad set of topics including robustness and scalability in long-term mapping, metric and semantic representations for mapping, theoretical performance guarantees, active SLAM and exploration, and other new frontiers. This paper simultaneously serves as a position paper and tutorial to those who are users of SLAM. By looking at the published research with a critical eye, we delineate open challenges and new research issues, that still deserve careful scientific investigation. The paper also contains the authors' take on two questions that often animate discussions during robotics conferences: Do robots need SLAM? and Is SLAM solved

Conceptual Representations for Computational Concept Creation

Computational creativity seeks to understand computational mechanisms that can be characterized as creative. The creation of new concepts is a central challenge for any creative system. In this article, we outline different approaches to computational concept creation and then review conceptual representations relevant to concept creation, and therefore to computational creativity. The conceptual representations are organized in accordance with two important perspectives on the distinctions between them. One distinction is between symbolic, spatial and connectionist representations. The other is between descriptive and procedural representations. Additionally, conceptual representations used in particular creative domains, such as language, music, image and emotion, are reviewed separately. For every representation reviewed, we cover the inference it affords, the computational means of building it, and its application in concept creation.Peer reviewe

Network analysis of the cellular circuits of memory

Intuitively, memory is conceived as a collection of static images that we accumulate as we experience the world. But actually, memories are constantly changing through our life, shaped by our ongoing experiences. Assimilating new knowledge without corrupting pre-existing memories is then a critical brain function. However, learning and memory interact: prior knowledge can proactively influence learning, and new information can retroactively modify memories of past events. The hippocampus is a brain region essential for learning and memory, but the network-level operations that underlie the continuous integration of new experiences into memory, segregating them as discrete traces while enabling their interaction, are unknown. Here I show a network mechanism by which two distinct memories interact. Hippocampal CA1 neuron ensembles were monitored in mice as they explored a familiar environment before and after forming a new place-reward memory in a different environment. By employing a network science representation of the co-firing relationships among principal cells, I first found that new associative learning modifies the topology of the cells’ co-firing patterns representing the unrelated familiar environment. I fur- ther observed that these neuronal co-firing graphs evolved along three functional axes: the first segregated novelty; the second distinguished individual novel be- havioural experiences; while the third revealed cross-memory interaction. Finally, I found that during this process, high activity principal cells rapidly formed the core representation of each memory; whereas low activity principal cells gradually joined co-activation motifs throughout individual experiences, enabling cross-memory in- teractions. These findings reveal an organizational principle of brain networks where high and low activity cells are differentially recruited into coactivity motifs as build- ing blocks for the flexible integration and interaction of memories. Finally, I employ a set of manifold learning and related approaches to explore and characterise the complex neural population dynamics within CA1 that underlie sim- ple exploration.Open Acces