Abstract
This chapter describes the design and testing of a biologically inspired vision-based model of spatial memory. Three theories of biological spatial memory are discussed. The Topological Network-map theory is translated into general principles, and two forms of connectionist implementation of these principles are discussed. This is followed by a discussion of planning and map-learning experiments performed with a robot. These experiments reveal problems with the implementation of the view-graph principle. The causes of these problems are discussed and solutions proposed.
This is a preview of subscription content, log in via an institution.
Buying options
Tax calculation will be finalised at checkout
Purchases are for personal use only
Learn about institutional subscriptionsPreview
Unable to display preview. Download preview PDF.
Bibliography
Althöfer K. (1996) “Neuro-Fuzzy Path Planning for Robotic Manipulators”, PhD Thesis, Dept. of Electronic and Electrical Engineering, King’s College London, Strand, London WC2R 2LS, UK
Altman J. (1995) “Deciding what to do next”, Trends in Neuroscience, 18, 117–118.
Arbib M.A. and Lieblich I. (1977) “Motivational Learning of Spatial Behaviour”, in Metzler J., (ed) “Systems Neuroscience”, Academic Press, New York, pp. 221–239. (a more accessible reference may be Lieblich and Arbib, 1982)
Bachelder I.A. and Waxman A.M. (1995) “A View-Based Neurocomputational System for Relational Map-Making and Navigation in Visual Environments”, Robotics and Autonomous Systems, 16, pp. 267–289.
Barto A.G., Bradtke S.J. and Singh S.P. (1995) “Learning to Act using Real-Time Dynamic Programming”, Artificial Intelligence, 72, 81–138.
Blades M. (1990) “The Reliability of Data Collected from Sketch Maps”, J. of Environmental Psychology, 10, pp. 327339.
Brooks R.A. (1986) “A Robust Layered Control System for a Mobile Robot”, IEEE Journal of Robotics an Automation, RA2, pp. 14–23.
Buehlmeier A., Duerer H., Monnerjahn J., Noelte M. and Nehmzow U. (1996) “Learning by Tuition, Experiments with the Manchester ‘FortyTwo’”, University of Manchester, Computer Science Technical Report Series, UMCS-96–1-2, Can be downloaded from: ftp://ftp.cs.man.ac.Uk/pub/TR/UMCS-96–1-2.ps.Z
Bugmann G., Taylor J.G. and Denham M.J. (1994) “Sensory and Memory Based Path Planning in the Egocentric Reference Frame of an Autonomous Mobile Robot” Research Report NRG-94–01, School of Computing, University of Plymouth, Plymouth PL4 8AA, UK. http://www.tech.plym.ac.uk/soc/research/neural/neur20/publicat/papers/nrg9401.zip
Bugmann G., Taylor J.G. and Denham M.J. (1995) “Route finding using Neural Nets”, in Taylor J.G (ed) “Neural Networks”, Alfred Waller Ltd, Henley-on-Thames, pp. 217–230.
Bugmann G. (1997) “Biologically Plausible Neurocomputation”, Biosystems, 40, 11–19.
Burgess N. Recce M. and O’Keefe J. (1995) “Hippocampus: Spatial Models”, in Arbib M.A. (ed) “The handbook of Brain Theory and Neural Networks”, Bradford Books/MIT Press, pp. 468–472
Burgess N. and O’Keefe J. (1996) “Neural Computation Underlying the Firing of Place Cells and their Role in Navigation”, Hippocampus. 6, pp. 749–762.
Byrne R. (1979) “Memory for urban geography”, Quarterly Journal of Experimental Psychology, 31, 147–154.
Connoly C.I. and Burns J.B. (1993) “A Model of the Functioning of the Striatum”, Biological Cybernetics, 68, pp. 535–544.
Cox I.J. (1991) “Blanche — An experiment in Guidance and Navigation of an Autonomous Robot Vehicule”, IEEE Transactions on Robotics and Automation, 7, pp 193–204.
Curran T. (1995) “On the neural Mechanisms of Sequence Learning”, Psyche, Vol. 2 (online journal: http://psyche.cs.monash.edu.au/volume2–1/psyche-95–2-12 sequence-1-curran.html).
Denham M.J. and McCabe S.L. (1995) “Robot control using temporal sequence learning”, Proc World Congress on Neural Networks (WCNN’95), Washington DC, USA, July 1995, INNS Press/Lawrence Erlbaum Associates, vol 2, pp 346–349.
Denham M.J. and McCabe S.L. (1996) “Biological basis for a neural model of learning and recall of goal-directed sensory-motor behaviours”, Proc World Congress on Neural Networks (WCNN’96), San Diego, USA, September 1996, INNS Press/Lawrence Erlbaum Associates, pp. 1283–1286.
Evans G.W., Marrero D.G. and Butler P.A. (1981) “Environmental Learning and Cognitive Mapping”, Environment and Behaviour, 13, pp. 83–104.
Ferguson E.L. and Hegarty M. (1994) “Properties of Cognitive Maps Constructed from Texts”, Memory and Cognition, 22, pp. 455–473.
Franz M.O., Schölkopf B., Georg P., Mallot H.A., and Bülthoff H.H. (1996) “Learning View Graphs for Robot Navigation”, Technical Report no 33, Max-Planck Institute für Biologische Kybernetik, 72076 Tübingen, Germany. Can be downloaded from the website: http://www.mpiktueb.mpg.de/projects/techr/list3.html
Gaussier P. and Zrehen S. (1995) “PerAc: A neural Architecture to Control Artificial Animals”, Robotics and Autonomous Systems, 16, pp. 291–320.
Gaussier P. and Zrehen S. (1994) “A topological Neural Map for OnLine Learning: Emergence of Obstacle Avoidance in a Mobile Robot”, Proc SAB’94 (Brighton, UK), pp. 282–290.
Gaussier P., Joulain C., Revel A. and Banquet J.-P. (1996) “Are Shaping Techniques the Correct Answer for the Control of Visually Guided Robots?”, Proc. Control’96 (Exeter, UK), IEE Publ. London, pp. 1248–1252.
Gaussier P., Joulain C., S. Zrehen, Banquet J.-P. and Revel A. (1997) “Visual Navigation in an Open Environment without Map”, Submitted to IROS’97, Grenoble.
Glasius R., Komoda A. and Gielen S. (1996) “A biologically Inspired Neural Net for Trajectory Formation and Obstacle Avoidance”, Biological Cybernetics, 84, pp. 511–520.
Gray J.A. (1995) “The contents of consciousness: A neurophysiological Conjecture”, Behavioural and Brain Science, 18, pp. 659–676
Hull C.L. (1932) “The goal Gradient Hypothesis and Maze Learning”, Psychological Review, 39, pp. 25–43.
Hull C.L. (1934) “The Concept of Habit-Family Hierarchy and Maze Learning”, Psychological Review, 41, pp. 33–52.
Hull C.L. (1935) “The Mechanism of the Assembly of Behavior Segments in Novel Combinations suitable for Problem Solution”, Psychological Review, 42, pp. 219–245.
Huttenlocher J. and Newcombe N. (1984) “The Child’s Representation of Information about Location”, in Sophian C. (ed) “Origin of Cognitive Skills”, Lawrence Erlbaum Associates, NJ, pp. 81–111.
Jeannerod M. (1994) “The Representing Brain: Neural Correlates of Motor Intention and Imagery”, BBS, 17, pp. 187–202.
Joulain C., Gaussier P. and Revel A. (1996) “Apprentissage de Catégories Sensory Motrices par un Robot Autonome” Research Report ENSEA/ETIS, Paris. Can be downloaded from: http://bunny.ensea.fr/Pages_Perso/Arnaud_Revel/articles/nsi2.ps
Kohonen T. (1988) “Self-Organisation and Associative Memory”, Springer Verlag, Berlin
Kortenkamp D., Huber M., Cohen C., Raschke U., Bidlack C., Bates Congdon C., Koss F. and Weymouth T. (1993) “Integrated Mobile-Robot Design (Winning the AAAF92 Robot Competition)”, IEEE Expert, 8, pp. 61–73.
Latombe J.C. (1991) “Robot motion Planning”, Kluwer Academic Publ.
Lejeune H. and Wearden J.H. (1991) “The Comparative Psychology of Fixed-Interval Responding: Some Quantitative Analyses”, Learning and Motivation, 22, pp. 84–111.
Levine M., Jankovic I.N., Palij M. (1982) “Principle of Spatial Problem Solving”, Journal of Experimental Psychology: General, 111, pp. 157–175.
Lieblich I. and Arbib M.A. (1982) “Multiple Representations of Space”, The Behavioral and Brain Sciences, 5, 627–659.
Maes P. (189) “How to do the right Thing”, Connection Science, 1, pp. 291–323.
Maguire E.A., Frackowiak, R.S.J. and Frith C.D. (1997a) “Learning to find your way — a role for the human hippocampal region”, submitted.
Maguire E.A., Burgess N., Donnett J.G., O’Keefe J. and Frith CD. (1997b) “Knowing where things are: Parahippocampal involvement in encoding object locations in virtual large-scale space”, Submitted.
Mallot H.A., Bülthoff H.H., Georg P., Schölkopf B. and Yasuhara K. (1995) “View-Based Cognitive Map Learning by an Autonomous Robot”, Proc. ICANN’95 (Paris), Vol. 2, pp. 381–386. A number of papers related to this work can be retrieved at the following website: http://www.mpik tueb.mpg.de/projects/navigation/navigation.html
Mataric M.J. (1990) “Navigating with a Rat Brain”, Proc. of Simulation of Adaptive Behavior: From Animals to Animats (SAB’90), MIT Press Bradford Books, pp. 169–175.
Mellet E., Tzourio N., Denis M., and Mazoyer B. (1995) “A positron Emission Tomography Study of Visual and Mental Spatial Exploration”, J. of Cognitive Neuroscience, 7, pp. 433–445.
Mellet E., Tzourio N., Crivello F., Joliot M., Denis M., and Mazoyer B. (1996) “Functional Imagery of Spatial Mental Images Generated from verbal Instructions”, J. of Neuroscience, 16, pp. 6504–6512.
Menzel E.W. (1973) “Chimpanzee Spatial Memory Organisation”, Science, 182, pp. 943–945.
Moar I. and Carleton L.R. (1982) “Memory for routes”, Quarterly Journal of Experimental Psychology, 35, pp. 381–394.
Muller R.U., Stead M. and Pach J. (1996) “The Hippocampus as a Cognitive Graph”, J. Gen. Physiol., 107, pp. 663–694.
McNamara T.P., Hardy J.K. and Hirtle S.C. (1989) “Subjective Hierarchies in Spatial Memory”, J. of Experimental Psychology: Learning, Memory and Cognition, 15, pp. 211–227.
McNaughton (1989) “Neural Mechanisms for Spatial Computation and Information Storage”, in: Nadel L., Cooper L.A., Culicover P. and Harnish R.M. (eds) “Neural Connections, Mental Computation”, MIT Press, Cambridge MA, USA, pp. 285–350.
McNaughton B.L. and Nadel L. (1990) “Hebb-Marr Networks and the Neurobiological Representation of Action in Space”, In Gluck M.A. and Rumelhart D.E. (eds) “Neuroscience and Connectionist Theory”, Lawrence Erlbaum Associates, Hillsdale NJ, USA, pp. 1–63.
Newell A. and Simon H.A. (1972) “Human problem Solving”, Prentice Hall, Inc, Englewood Cliffs, NJ
O’Keefe J. and Nadel L. (1978) “The Hippocampus as a Cognitive Map”, Clarendon Press, Oxford.
O’Keefe J. and Speakman A. (1987) “Single Unit Activity in the Rat Hippocampus during a Spatial Memory Task”, Experimental Brain Research, 68, pp. 1–27.
O’Keefe J, (1991) “An Allocentric Spatial Model for the Hippocampal Cognitive Map”, Hippocampus, 1, pp. 230–235.
Onillon V., Bugmann G., Simpson A. and Nurse P. (1995) “Artificial vision for micromouse” Research Report NRG-95–05, School of Computing, University of Plymouth, Plymouth PL4 8AA, UK, can be downloaded from http://www.tech.plym.ac.uk/soc/research/neural/
Peruch P., Giraudo M-D. and Gäling T. (1989) “Distance Cognition by Taxi Drivers and the General Public”, J. of Environmental Psychology, 9, pp. 233–239.
Presson C., DeLange N. and Hazelrigg M. (1989) “Orientation Specificity in Spatial Memory: What Makes a Path Different Prom a Map of the Path?”, Journal of Experimental Psychology: Learning, Memory, and Cognition., 15, pp. 887–897.
Rao R.P.N. and Fuentes O. (1996) “Learning Navigational Behavior using a Predictive Sparse Distributed Memory”, To appear in “Proc. from Animals to Animats’96: The Fourth International Conference on Simulation of Adaptive Behavior”, MIT Press
Recce M. and Harris K.D. (1996) “Memory for places; A navigation model in support of Marr’s Theory of hippocampal function”, Hippocampus, 6, pp. 735–748.
Rieser J.J. (1989) “Access to Knowledge of Spatial Structure at Novel Point of Observation”, Journal of Experimental Psychology: Learning, Memory, and Cognition, 15, pp. 1157–1165.
Röfer T. (1997) “Controlling a wheelchair with image based homing”, in N. Sharkey and U. Nehmzow (eds.) “Spatial Reasoning in Mobile Robots and Animals”, University of Manchester Technical Report UMCS-97–4-1
Rolls E.T. (1996) “The representation of space in the primate hippocampus, and its role in memory”, in Ishikawa K., McGaugh J.L. and Sakata H. (eds) “Brain Processes and Memory”, Elsevier: Amsterdam, pp. 203–227.
Sadalla E.K. and Magel S.G. (1980) “The perception of travelled distance”, Environment and Behaviour, 12, pp. 65–79.
Schmajuk N.A., Thieme A.D. and Blair H.T. (1993) “Maps, Routes and the Hippocampus: A neural Network Approach”, Hippocampus, 3, pp. 387–400.
Siemiatkowska B. (1994) “Cellular Neural Networks for Mobile Robot Navigation”, Proc. 3rd Int. Conf. on Cellular Neural Networks and their Applications (CNNA94), Rome, Italy, pp. 285–290.
Shallice T. (1988) “From Neuropsychology to mental Structure”, Cambridge University Press, Cambridge, UK. (see section 14.6 on planning and frontal lobe lesions).
Schölkopf B. and Mallot H.A. (1994) “View-Based Cognitive Mapping and Path Planning”, Technical Report no 7, Max Planck Institute für Biologische Kybernetik, 72076 Tübingen, Germany. Can be downloaded from: http://www.mpik-tueb.mpg.de/projects/techr/listl.html
Also availbable as: Schölkopf, B. and H.A. Mallot (1995) “View-based cognitive mapping and path planning.”, Adaptive Behavior 3, pp. 311–348.
Speakman A. (1987) “Place cells in the brain: Evidence for a cognitive map”, Sci. prog., Oxf., 71, pp. 511–530.
Spence K.W. (1950) “Cognitive Versus Stimulus-Response Theories of Learning”, Psychological Review, 57, pp. 159–172.
Tesauro G.J. (1995) “Temporal difference learning and TD Gammon”, Communication of the ACM, 38, pp. 58–68.
Thompson J.A. (1980) “How doe we use visual information to control locomotion”, Trends in Neuroscience, October 1980, pp. 247–250.
Thorndyke P.W. and Hayes-Roth B. (1982) “Differences in Spatial Knowledge Acquired from Maps and Navigation”, Cognitive Psychology, 14, pp. 560–589.
Thrun S. (1996) “A Bayesian Approach to Landmark Discovery and Active Perception in Mobile Robot Navigation”, Technical Report CMU-CS-96–122, Carnegie Mellon University, Pittsburgh, PA.
Thrun S. and Bücken A. (1996) “Learning Maps for Indoor Mobile Robot Navigation”, Technical Report CMU-CS-96–121, Carnegie Mellon University, Pittsburgh, PA.
Tolman E.G. (1948) “Cognitive maps in Rats and Men”, Psychological Review, 55, pp. 189–208.
Touretzky D.S., Wan H.S. and Redish A.D. (1994) “Neural Representation of Space in Rats and Robots”, in Zurada J.M., Marks R.J. and Robinson C.J. (eds) “Computational Intelligence: Imitating Life”, IEEE, pp. 57–68.
Tversky B. (1992) “Distortions in cognitive maps”, Geoforum, 23, pp. 131–138.
Vann Bugmann D. (1995) “Human Spatial Memory: A Study of Cognitive Distance”, Research report, Department of Psychology, University of Plymouth, UK.
Verschure P.F.M.J., Kröse B.J.A. and Pfeifer R. (1992) “Distributed Adaptive Control: The Self-organization of Structured Behaviour”, Robotics and Autonomous Systems, 9, pp. 181–196.
Verschure P.F.M.J., Wray J. Sporns O., Tononi G. and Edelman G.M. (1995) “Multilevel Analysis of Classical Conditioning in a Behaving Real World Artefact”, Robotics and Autonomous Systems, 16, pp. 247–265.
Ward A.K., Newcombe N. and Overton W.F. (1986) “Turn Left at The Church, or Three Miles North: A Study of Direction Giving and Sex Differences”, Environment and Behaviour, 18, pp. 192–213.
Watkins C.J.C.H. and Dayan P. “Q-Learning”, Machine Learning, 8, pp. 279–292.
Webb B. (1995) “Using Robots to Model Animals: a Cricket Test”, Robotics and Autonomous Systems, 16, pp. 117–134.
Wehner R., Michel B. and Antonsen P. (1996) “Visual Navigation in Insects: Coupling of Egocentric and Geocentric Information”, Journal of Experimental Biology, 199, pp. 129–140.
Whishaw I.Q. (1991) “Latent Learning in a Swimming Pool Place Task by Rats: Evidence of the Use of Associative and Not Cognitive Mapping Processes”, The Quarterly J. of Experimental Psychology, 43B, pp. 83–103.
Whitehead S.D. and Ballard D.H. (1991) “Learning to Perceive and Act by Trial and Error”, Machine Learning, 7, pp. 45–83.
Yamauchi B. and Langley P. (1997) “Place Learning in Dynamic Real-World Environments”, Intl. Workshop on Learning in Autonomous Robots (RobotLearn’96), May 19–20, Key west, Florida, pp. 123–129. (http://www.cs.buffalo.edu/~hexmoor/robolearn96/workshop.html).
Possibly more accessible: Yamauchi B. and Langley P. (1997) “Place recognition in dynamic environments” J. of Robotics System, 14, pp. 107–120.
Zimmer U.R (1996) “Robust World-Modelling and Navigation in a Real World”, Neurocomputing, 13, pp. 247–260.
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 1998 Springer-Verlag London Limited
About this chapter
Cite this chapter
Bugmann, G. (1998). A Connectionist Approach to Spatial Memory and Planning. In: Landau, L.J., Taylor, J.G. (eds) Concepts for Neural Networks. Perspectives in Neural Computing. Springer, London. https://doi.org/10.1007/978-1-4471-3427-5_5
Download citation
DOI: https://doi.org/10.1007/978-1-4471-3427-5_5
Publisher Name: Springer, London
Print ISBN: 978-3-540-76163-1
Online ISBN: 978-1-4471-3427-5
eBook Packages: Springer Book Archive