Robust Exploration Strategies for a Robot exploring a Wireless Network

Integration of robots into wireless networks is important for a number of scenarios. One of the tasks is network exploration for which the most basic case is finding the physical outline of the network. We propose a robust algorithm for exploring the outline of a network with a mobile robot. For this algorithm we study robustness against noise for several sensory inputs

A note on the depth-from-defocus mechanism of jumping spiders

Jumping spiders are capable of estimating the distance to their prey relying only on the information from one of their main eyes. Recently, it has been shown that jumping spiders perform this estimation based on image defocus cues. In order to gain insight into the mechanisms involved in this blur-to-distance mapping as performed by the spider and to judge whether inspirations can be drawn from spider vision for depth-from-defocus computer vision algorithms, we constructed a three-dimensional (3D) model of the anterior median eye of the Metaphidippus aeneolus, a well studied species of jumping spider. We were able to study images of the environment as the spider would see them and to measure the performances of a well known depth-from-defocus algorithm on this dataset. We found that the algorithm performs best when using images that are averaged over the considerable thickness of the spider's receptor layers, thus pointing towards a possible functional role of the receptor thickness for the spider's depth estimation capabilities

Sparse Coding with a Somato-Dendritic Rule

© 2020 Elsevier Ltd. All rights reserved. This manuscript is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International Licence http://creativecommons.org/licenses/by-nc-nd/4.0/.Cortical neurons are silent most of the time. This sparse activity is energy efficient, and the resulting neural code has favourable properties for associative learning. Most neural models of sparse coding use some form of homeostasis to ensure that each neuron fires infrequently. But homeostatic plasticity acting on a fast timescale may not be biologically plausible, and could lead to catastrophic forgetting in embodied agents that learn continuously. We set out to explore whether inhibitory plasticity could play that role instead, regulating both the population sparseness and the average firing rates. We put the idea to the test in a hybrid network where rate-based dendritic compartments integrate the feedforward input, while spiking somas compete through recurrent inhibition. A somato-dendritic learning rule allows somatic inhibition to modulate nonlinear Hebbian learning in the dendrites. Trained on MNIST digits and natural images, the network discovers independent components that form a sparse encoding of the input and support linear decoding. These findings con-firm that intrinsic plasticity is not strictly required for regulating sparseness: inhibitory plasticity can have the same effect, although that mechanism comes with its own stability-plasticity dilemma. Going beyond point neuron models, the network illustrates how a learning rule can make use of dendrites and compartmentalised inputs; it also suggests a functional interpretation for clustered somatic inhibition in cortical neurons.Peer reviewe

Editorial: Re-Enacting Sensorimotor Experience for Cognition

Peer Reviewe

Developmental Robotics and its Role Towards Artificial General Intelligence

Projekt DEALPeer Reviewe