Compact Internal Representation of Dynamic Environments: Implementation on FPGA

Abstract

Animals for surviving have developed cognitive abilities allowing them an abstract representation of the environment. This internal representation (IR) may contain a huge amount of information concerning the evolution and interactions of the animal and its surroundings. The temporal information is needed for Internal Representations of dynamic environments and is one of the most subtle points in its implementation as the information needed to generate the IR may eventually increase dramatically. Chapter 3 in the book proposed the compression of the spatio-temporal information into only space, leading to a stable structure suitable to be the base for complex cognitive processes in what has been called Compact Internal Representation (CIR). The Compact Internal Representation is especially suited to be implemented in autonomous robots as it provides global strategies for the interaction with real environments. This chapter describes an FPGA implementation of a Causal Neural Network based on a modified FitzHugh-Nagumo neuron to generate a Compact Internal Representation of dynamic environments for roving robots to avoid dynamic and static obstacles.