STDP with adaptive synaptic delay for robot navigation control

Paolo Arena; Luca Patané; Francesco Distefano; Sebastiano Bucolo; Orazio Aiello

doi:10.1117/12.724204

29 May 2007 STDP with adaptive synaptic delay for robot navigation control

Paolo Arena, Luca Patané, Francesco Distefano, Sebastiano Bucolo, Orazio Aiello

Proceedings Volume 6592, Bioengineered and Bioinspired Systems III; 65920J (2007) https://doi.org/10.1117/12.724204
Event: Microtechnologies for the New Millennium, 2007, Maspalomas, Gran Canaria, Spain

Abstract

In this work a biologically inspired network of spiking neurons is used for robot navigation control. The two tasks taken into account are obstacle avoidance and landmark-based navigation. The system learns the correlation among unconditioned stimuli (pre-wired sensors) and conditioned stimuli (high level sensors) through Spike Timing Dependent Plasticity (STDP). In order to improve the robot behaviours not only the synaptic weight but also the synaptic delay is subject to learning. Modulating the synaptic delay the robot is able to store the landmark position, like in a short time memory, and to use this information to smooth the turning actions prolonging the landmark effects also when it is no more visible. Simulations are carried out in a dynamic simulation environment and the robotic system considered is a cockroach-inspired hexapod robot. The locomotion signals are generated by a Central Pattern Generator and the spiking network is devoted to control the heading of the robot acting on the amplitude of the leg steps. Several scenarios have been proposed, for instance a T-shaped labyrinth, used in laboratory experiments with mice to demonstrate classical and operant conditioning, has been considered. Finally the proposed adaptive navigation control structure can be extended in a modular way to include other features detected by new sensors included in the correlation-based learning process.

Citation Download Citation

Paolo Arena, Luca Patané, Francesco Distefano, Sebastiano Bucolo, and Orazio Aiello "STDP with adaptive synaptic delay for robot navigation control", Proc. SPIE 6592, Bioengineered and Bioinspired Systems III, 65920J (29 May 2007); https://doi.org/10.1117/12.724204

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available