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Proceedings Paper

Adaptive bioinspired landmark identification for navigation control
Author(s): Paolo Arena; Holk Cruse; Luigi Fortuna; Davide Lombardo; Luca Patané; Rosa Rapisarda
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Paper Abstract

In this paper a new methodology for landmark navigation will be introduced. Either for animals or for artificial agents, the whole problem of landmark navigation can be divided into two parts: first, the agent has to recognize, from the dynamic environment, space invariant objects which can be considered as suitable landmarks for driving the motion towards a goal position; second, it has to use the information on the landmarks to effectively navigate within the environment. Here, the problem of determining landmarks has been addressed by processing the external information through a spiking network with dynamic synapses plastically tuned by an STDP algorithm. The learning processes establish correlations between the incoming stimuli, allowing the system to extract from the scenario important features which can play the role of landmarks. Once established the landmarks, the agent acquires geometric relationships between them and the goal position. This process defines the parameters of a recurrent neural network (RNN). This in turn drives the agent navigation, filtering the information about landmarks given within an absolute reference system (e.g the North). When the absolute reference is not available, a safety mechanism acts to control the motion maintaining a correct heading. Simulation results showed the potentiality of the proposed architecture: this is able to drive an agent towards the desired position in presence of stimuli subject to noise and also in the case of partially obscured landmarks.

Paper Details

Date Published: 29 May 2007
PDF: 12 pages
Proc. SPIE 6592, Bioengineered and Bioinspired Systems III, 65920L (29 May 2007); doi: 10.1117/12.724287
Show Author Affiliations
Paolo Arena, Univ. degli Studi di Catania (Italy)
Holk Cruse, Univ. of Bielefeld (Germany)
Luigi Fortuna, Univ. degli Studi di Catania (Italy)
Davide Lombardo, Univ. degli Studi di Catania (Italy)
Luca Patané, Univ. degli Studi di Catania (Italy)
Rosa Rapisarda, Univ. degli Studi di Catania (Italy)
Univ. di Catania (Italy)


Published in SPIE Proceedings Vol. 6592:
Bioengineered and Bioinspired Systems III
Paolo Arena; Ángel Rodríguez-Vázquez; Gustavo Liñán-Cembrano, Editor(s)

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