Abstract
This paper presents a novel Topological Map of Place Cells model for autonomous robots. In such a model the robot acquires and stores perceptions using a basic memory provided by our proposed growing self-organizing map. Context sensitive cells aim to obtain Place Cells whose activation is dependent on a remembrance process that fires the recollection of stored memories from current robot perceptions. The map is a graph of interconnected and topologically organized Place Cells. The robots notion of localization is primary guided by the recollection process, while vestibular stimuli estimates and a historic of lastly visited places disambiguate conflicting simultaneously activated Place Cells. The results are promising.
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DalleMole, V.L., Araújo, A.F.R. (2010). A Novel Topological Map of Place Cells for Autonomous Robots. In: Diamantaras, K., Duch, W., Iliadis, L.S. (eds) Artificial Neural Networks – ICANN 2010. ICANN 2010. Lecture Notes in Computer Science, vol 6353. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-15822-3_37
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DOI: https://doi.org/10.1007/978-3-642-15822-3_37
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