Skip to main content
SpringerLink
Log in

Multimodal Integration of Visual Place Cells and Grid Cells for Navigation Tasks of a Real Robot

  • Conference paper
From Animals to Animats 12 (SAB 2012)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 7426))

Included in the following conference series:

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.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution
Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 39.99
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD 54.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. 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)

    Article  Google Scholar 

  2. Cuperlier, N., Quoy, M., Gaussier, P.: Neurobiologically inspired mobile robot navigation and planning. Frontiers in NeuroRobotics 1(1) (2007)

    Google Scholar 

  3. 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

    Google Scholar 

  4. 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)

    Google Scholar 

  5. 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)

    Google Scholar 

  6. 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)

    Google Scholar 

  7. Schenk, F., Lavenex, P.: Olfactory traces and spatial learning in rats. Institute of Physiology, University of Lausanne (1998)

    Google Scholar 

  8. 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)

    Google Scholar 

  9. 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)

    Article  Google Scholar 

  10. Fuhs, M.C., Touretzky, D.S.: A Spin Glass Model of Path Integration in Rat Medial Entorhinal Cortex 26(16), 4266–4276 (2006)

    Google Scholar 

  11. 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)

    Article  Google Scholar 

  12. Burgess, N., Barry, C., O’Keefe, J.: An oscillatory interference model of grid cell firing (2007), doi:10.1002/hipo.20327

    Google Scholar 

  13. Fiete, I.R., Burak, Y., Brookings, T.: What Grid Cells Convey about Rat Location. The Journal of Neuroscience 28(27), 6858–6871 (2008)

    Article  Google Scholar 

  14. 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)

    Article  Google Scholar 

  15. O’Keefe, J., Nadel, N.: The hippocampus as a cognitive map. Clarendon Press, Oxford (1978)

    Google Scholar 

  16. 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)

    Article  MATH  Google Scholar 

  17. 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)

    Article  MATH  Google Scholar 

  18. 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)

    Google Scholar 

  19. Kolb, B., Tees, R.: The Cerebral Cortex of the Rat. MIT Press (1990)

    Google Scholar 

  20. Suzuki, W.A., Miller, E.K., Desimone, R.: Object and place memory in the macaque entorhinal cortex. J. Neurophysiol. 78(2), 1062–1081 (1997)

    Google Scholar 

  21. Burwell, R.D., Hafeman, D.M.: Positional firing properties of postrhinal cortex neurons. Neuroscience 119(2), 577–588 (2003)

    Article  Google Scholar 

  22. 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

    Article  Google Scholar 

  23. 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

    Article  Google Scholar 

  24. Widrow, B., Hoff Jr., M.E.: Adaptive Switching Circuits. IRE WESCON Convention Record 4, 96–104 (1960)

    Google Scholar 

  25. Haykin, S.: Adaptive Filter Theory. Prentice Hall (2002) ISBN 0-13-048434-2

    Google Scholar 

  26. Pavlov, I.P.: Conditioned reflexes. Routledge and Kegan Paul, London (1927)

    Google Scholar 

  27. 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)

    Article  Google Scholar 

  28. 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)

    Google Scholar 

  29. Herrmann, J.M., Pawelzik, K., Geisel, T.: Self-localization of autonomous robots by hidden representations. Autonomous Robots 7(1), 31–40 (1999)

    Article  Google Scholar 

  30. Mataric, M.J.: A Distributed Model for Mobile Robot Environment-Learning and Navigation, MIT EECS Master’s Thesis (January 1990)

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. ETIS laboratory, UMR 8051, F-95000, Cergy Cedex, France

    Adrien Jauffret, Nicolas Cuperlier, Philippe Gaussier & Philippe Tarroux

  2. LIMSI laboratory, CNRS(UPR3251), 91403, Orsay Cedex, France

    Adrien Jauffret, Nicolas Cuperlier, Philippe Gaussier & Philippe Tarroux

Authors
  1. Adrien Jauffret
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Nicolas Cuperlier
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Philippe Gaussier
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Philippe Tarroux
    View author publications

    You can also search for this author in PubMed Google Scholar

Editor information

Editors and Affiliations

  1. Informatics Research Centre, University of Skövde, Kanikegränd 3A, 54134, Skövde, Sweden

    Tom Ziemke

  2. Lund University, Lundagård, Kungshuset, 22222, Lund, Sweden

    Christian Balkenius

  3. Mærsk McKinney Møller Institute, University of Southern Denmark, Campusvej 55, 5230, Odense, Denmark

    John Hallam

Rights and permissions

Reprints 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)

Publish with us

Policies and ethics

Search

Navigation