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A biologically inspired meta-control navigation system for the Psikharpax rat robot

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Abstract
A biologically inspired navigation system for the mobile rat-like robot named Psikharpax is presented, allowing for self-localization and autonomous navigation in an initially unknown environment. The ability of parts of the model (e. g. the strategy selection mechanism) to reproduce rat behavioral data in various maze tasks has been validated before in simulations. But the capacity of the model to work on a real robot platform had not been tested. This paper presents our work on the implementation on the Psikharpax robot of two independent navigation strategies (a place-based planning strategy and a cue-guided taxon strategy) and a strategy selection meta-controller. We show how our robot can memorize which was the optimal strategy in each situation, by means of a reinforcement learning algorithm. Moreover, a context detector enables the controller to quickly adapt to changes in the environment-recognized as new contexts-and to restore previously acquired strategy preferences when a previously experienced context is recognized. This produces adaptivity closer to rat behavioral performance and constitutes a computational proposition of the role of the rat prefrontal cortex in strategy shifting. Moreover, such a brain-inspired meta-controller may provide an advancement for learning architectures in robotics.
Keywords
CAUDATE-NUCLEUS, FRONTAL-CORTEX, VENTRAL STRIATUM, COMPONENT ANALYSIS, SPATIAL COGNITION, BASAL GANGLIA, MEDIAL PREFRONTAL CORTEX, CELL-ACTIVITY, PLACE, LESIONS

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MLA
Caluwaerts, Ken, et al. “A Biologically Inspired Meta-Control Navigation System for the Psikharpax Rat Robot.” BIOINSPIRATION & BIOMIMETICS, vol. 7, no. 2, 2012.
APA
Caluwaerts, K., Staffa, M., N’Guyen, S., Grand, C., Dollé, L., Favre-Félix, A., … Khamassi, M. (2012). A biologically inspired meta-control navigation system for the Psikharpax rat robot. BIOINSPIRATION & BIOMIMETICS, 7(2).
Chicago author-date
Caluwaerts, Ken, Mariacarla Staffa, Steve N’Guyen, Christophe Grand, Laurent Dollé, Antoine Favre-Félix, Benoît Girard, and Mehdi Khamassi. 2012. “A Biologically Inspired Meta-Control Navigation System for the Psikharpax Rat Robot.” BIOINSPIRATION & BIOMIMETICS 7 (2).
Chicago author-date (all authors)
Caluwaerts, Ken, Mariacarla Staffa, Steve N’Guyen, Christophe Grand, Laurent Dollé, Antoine Favre-Félix, Benoît Girard, and Mehdi Khamassi. 2012. “A Biologically Inspired Meta-Control Navigation System for the Psikharpax Rat Robot.” BIOINSPIRATION & BIOMIMETICS 7 (2).
Vancouver
1.
Caluwaerts K, Staffa M, N’Guyen S, Grand C, Dollé L, Favre-Félix A, et al. A biologically inspired meta-control navigation system for the Psikharpax rat robot. BIOINSPIRATION & BIOMIMETICS. 2012;7(2).
IEEE
[1]
K. Caluwaerts et al., “A biologically inspired meta-control navigation system for the Psikharpax rat robot,” BIOINSPIRATION & BIOMIMETICS, vol. 7, no. 2, 2012.
@article{1965413,
  abstract     = {A biologically inspired navigation system for the mobile rat-like robot named Psikharpax is presented, allowing for self-localization and autonomous navigation in an initially unknown environment. The ability of parts of the model (e. g. the strategy selection mechanism) to reproduce rat behavioral data in various maze tasks has been validated before in simulations. But the capacity of the model to work on a real robot platform had not been tested. This paper presents our work on the implementation on the Psikharpax robot of two independent navigation strategies (a place-based planning strategy and a cue-guided taxon strategy) and a strategy selection meta-controller. We show how our robot can memorize which was the optimal strategy in each situation, by means of a reinforcement learning algorithm. Moreover, a context detector enables the controller to quickly adapt to changes in the environment-recognized as new contexts-and to restore previously acquired strategy preferences when a previously experienced context is recognized. This produces adaptivity closer to rat behavioral performance and constitutes a computational proposition of the role of the rat prefrontal cortex in strategy shifting. Moreover, such a brain-inspired meta-controller may provide an advancement for learning architectures in robotics.},
  articleno    = {025009},
  author       = {Caluwaerts, Ken and Staffa, Mariacarla and N'Guyen, Steve and Grand, Christophe and Dollé, Laurent and Favre-Félix, Antoine and Girard, Benoît and Khamassi, Mehdi},
  issn         = {1748-3182},
  journal      = {BIOINSPIRATION & BIOMIMETICS},
  keywords     = {CAUDATE-NUCLEUS,FRONTAL-CORTEX,VENTRAL STRIATUM,COMPONENT ANALYSIS,SPATIAL COGNITION,BASAL GANGLIA,MEDIAL PREFRONTAL CORTEX,CELL-ACTIVITY,PLACE,LESIONS},
  language     = {eng},
  number       = {2},
  pages        = {30},
  title        = {A biologically inspired meta-control navigation system for the Psikharpax rat robot},
  url          = {http://dx.doi.org/10.1088/1748-3182/7/2/025009},
  volume       = {7},
  year         = {2012},
}

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