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Keywords
(13)
Autonomous Learning
Biological Systems
Brain Structure
Independent Component Analysis
Learning System
Mobile Robot
Place Cell
Robot Localization
Self Organization
Spatial Information
Infra Red
Reservoir Computing
Slow Feature Analysis
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Towards Autonomous Self-localization of Small Mobile Robots using Reservoir Computing and Slow Feature Analysis
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Towards Autonomous Self-localization of Small Mobile Robots using Reservoir Computing and Slow Feature Analysis
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Citations: 1
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Eric A. Antonelo
,
Benjamin Schrauwen
Biological systems
such as rats have special brain structures which process
spatial information
from the environment. They have efficient and robust localization abilities provided by special neurons in the hippocampus, namely place cells. This work proposes a biologically plausible architecture which is based on three recently developed techniques:
Reservoir Computing
(RC),
Slow Feature Analysis
(SFA), and
Independent Component Analysis
(ICA). The bottom layer of our RC-SFA architecture is a reservoir of recurrent nodes which process the information from the robot's distance sensors. It provides a temporal kernel of rich dynamics which is used by the upper two layers (SFA and ICA) to autonomously learn place cells. Experiments with an e-puck robot with 8 infra-red sensors (which measure distances in [4-30] cm) show that the
learning system
based on RC-SFA provides a self-organized formation of place cells that can either distinguish between two rooms or to detect the corridor connecting them.
Conference:
IEEE International Conference on Systems, Man, and Cybernetics - SMC
, pp. 3818-3823, 2009
DOI:
10.1109/ICSMC.2009.5346617
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Citation Context
(1)
...Relevant research in learning the localization capability for small mobile robots using RC can be found in [2] in a supervised learning approach and in [
1
] in an unsupervised way...
Eric A. Antonelo
,
et al.
Supervised learning of internal models for autonomous goal-oriented ro...
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Citations
(1)
Supervised learning of internal models for autonomous goal-oriented robot navigation using Reservoir Computing
Eric A. Antonelo
,
Benjamin Schrauwen
Conference:
International Conference on Robotics and Automation - ICRA
, pp. 2959-2964, 2010