Abstract
In the present study, we propose a model of multimodal place cells merging visual and proprioceptive primitives. First we will briefly present our previous sensory-motor architecture, highlighting limitations of a visual-only based system. Then we will introduce a new model of proprioceptive localization, giving rise to the so-called grid cells, wich are congruent with neurobiological studies made on rodent.
Finally we will show how a simple conditionning rule between both modalities can outperform visual-only driven models by producing robust multimodal place cells. Experiments show that this model enhances robot localization and also allows to solve some benchmark problems for real life robotics applications.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
Similar content being viewed by others
References
O’Keefe, J., Dostrovski, J.: The hippocampus as a spatial map. Preliminary evidence from unit activity in the freely-moving rat. Brain Research 34, 171–175 (1971)
Cuperlier, N., Quoy, M., Gaussier, P.: Neurobiologically inspired mobile robot navigation and planning. Frontiers in NeuroRobotics 1(1) (2007)
Markus, E.J., Barnes, C.A., McNaughton, B.L., Gladden, V.L., Skaggs, W.E.: Spatial information content and reliability of hippocampal CA1 neurons: Effects of visual input (2004), doi:10.1002/hipo.450040404
Muller, R.U., Kubie, J.L., Ranck Jr., J.B.: Spatial firing patterns of hippocampal complex-spike cells in a fixed environment. The Journal of Neuroscience 7(7), 1935–1950 (1987)
Quirk, G.J., Muller, R.U., Kubie, J.L.: The firing of hippocampal place cells in the dark depends on the rat’s recent experience. The Journal of Neuroscience 10(6), 2008–2017 (1990)
Schenk, F., Grobety, M.C., Lavenex, P., Lipp, H.-P.: Dissociation between Basic Components of Spatial Memory in Rats. Science Series D 82, pt. III, 277–300 (1995)
Schenk, F., Lavenex, P.: Olfactory traces and spatial learning in rats. Institute of Physiology, University of Lausanne (1998)
Wallace, D.G., Hines, D.J., Pellis, S.M., Whishaw, I.Q.: Vestibular Information Is Required for Dead Reckoning in the Rat. The Journal of Neuroscience 22(22), 10009–10017 (2002)
Hafting, T., Fyhn, M., Molden, S., Moser, M.B., Moser, E.I.: Microstructure of a spatial map in the entorhinal cortex. Nature 436(7052), 801–806 (2005)
Fuhs, M.C., Touretzky, D.S.: A Spin Glass Model of Path Integration in Rat Medial Entorhinal Cortex 26(16), 4266–4276 (2006)
McNaughton, B.L., Battaglia, F.P., Jensen, O., Moser, E.I., Moser, M.-B.: Path integration and the neural basis of the ’cognitive map’. Nature Reviews Neuroscience 7, 663–678 (2006)
Burgess, N., Barry, C., O’Keefe, J.: An oscillatory interference model of grid cell firing (2007), doi:10.1002/hipo.20327
Fiete, I.R., Burak, Y., Brookings, T.: What Grid Cells Convey about Rat Location. The Journal of Neuroscience 28(27), 6858–6871 (2008)
Gaussier, P., Banquet, J.P., Sargolini, F., Giovannengeli, C., Save, E., Poucet, B.: A model of grid cells involving extra hippocampal path integration, and the hippocampal loop. Journal of Integrative Neuroscience 6(3), 447–476 (2007)
O’Keefe, J., Nadel, N.: The hippocampus as a cognitive map. Clarendon Press, Oxford (1978)
Gaussier, P., Revel, A., Banquet, J.-P., Babeau, V.: From view cells and place cells to cognitive map learning: processing stages of the hippocampal system. Biological Cybernetics 86, 15–28 (2002)
Banquet, J.-P., Gaussier, P., Quoy, M., Revel, A., Burnod, Y.: A hierarchy of as- sociations in hippocampo-cortical systems: Cognitive maps and navigation strategies. Neural Computation 17(6), 1339–1384 (2005)
Giovannangeli, C., Gaussier, P., Banquet, J.P.: Robustness of visual place cells in dynamic indoor and outdoor environment. International Journal of Advanced Robotic Systems 3(2), 115–124 (2006)
Kolb, B., Tees, R.: The Cerebral Cortex of the Rat. MIT Press (1990)
Suzuki, W.A., Miller, E.K., Desimone, R.: Object and place memory in the macaque entorhinal cortex. J. Neurophysiol. 78(2), 1062–1081 (1997)
Burwell, R.D., Hafeman, D.M.: Positional firing properties of postrhinal cortex neurons. Neuroscience 119(2), 577–588 (2003)
Gaussier, P., Zrehen, S.: Perac: A neural architecture to control artificial animals. Robotics and Autonomous Systems 16(2-4), 291–320 (1995); Moving the Frontiers between Robotics and Biology
Pouget, A., Deneve, S., Duhamel, J.-R.: A computational perspective on the neural basis of multisensory spatial representations. Nature Reviews Neuroscience 3, 741–747 (2002), doi:10.1038/nrn914
Widrow, B., Hoff Jr., M.E.: Adaptive Switching Circuits. IRE WESCON Convention Record 4, 96–104 (1960)
Haykin, S.: Adaptive Filter Theory. Prentice Hall (2002) ISBN 0-13-048434-2
Pavlov, I.P.: Conditioned reflexes. Routledge and Kegan Paul, London (1927)
Strosslin, T., Sheynikhovich, D., Chavarriaga, R., Gerstner, W.: Robust self-localisation and navigation based on hippocampal place cells. Neural Networks 18(9), 1125–1140 (2005)
Arleo, A., Smeraldi, F., Hug, S., Gerstner, W.: In: Leen, T.K., Dietterich, T.G., Tresp, V. (eds.) Advances in Neural Information Processing Systems, 1(ii), pp. 89–95. Citeseer (2001)
Herrmann, J.M., Pawelzik, K., Geisel, T.: Self-localization of autonomous robots by hidden representations. Autonomous Robots 7(1), 31–40 (1999)
Mataric, M.J.: A Distributed Model for Mobile Robot Environment-Learning and Navigation, MIT EECS Master’s Thesis (January 1990)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2012 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Jauffret, A., Cuperlier, N., Gaussier, P., Tarroux, P. (2012). Multimodal Integration of Visual Place Cells and Grid Cells for Navigation Tasks of a Real Robot. In: Ziemke, T., Balkenius, C., Hallam, J. (eds) From Animals to Animats 12. SAB 2012. Lecture Notes in Computer Science(), vol 7426. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-33093-3_14
Download citation
DOI: https://doi.org/10.1007/978-3-642-33093-3_14
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-33092-6
Online ISBN: 978-3-642-33093-3
eBook Packages: Computer ScienceComputer Science (R0)