Bioinspired Spike-Based Hippocampus and Posterior Parietal Cortex Models for Robot Navigation and Environment Pseudomapping

The brain has great capacity for computation and efficient resolution of complex problems, far surpassing modern computers. Neuromorphic engineering seeks to mimic the basic principles of the brain to develop systems capable of achieving such capabilities. In the neuromorphic field, navigation syste...

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Autores: Casanueva Morato, Daniel, Ayuso Martínez, Álvaro, Domínguez Morales, Juan Pedro, Jiménez Fernández, Ángel Francisco, Jiménez Moreno, Gabriel, Pérez Peña, Fernando
Tipo de recurso: artículo
Estado:Versión publicada
Fecha de publicación:2023
País:España
Institución:Universidad de Sevilla (US)
Repositorio:idUS. Depósito de Investigación de la Universidad de Sevilla
OAI Identifier:oai:idus.us.es:11441/150227
Acceso en línea:https://hdl.handle.net/11441/150227
https://doi.org/10.1002/aisy.202300132
Access Level:acceso abierto
Palabra clave:Environment state maps
Hippocampus
Neuromorphic engineering
Posterior parietal cortex
Spatial navigation
Spiking neural networks
SpiNNaker
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spelling Bioinspired Spike-Based Hippocampus and Posterior Parietal Cortex Models for Robot Navigation and Environment PseudomappingCasanueva Morato, DanielAyuso Martínez, ÁlvaroDomínguez Morales, Juan PedroJiménez Fernández, Ángel FranciscoJiménez Moreno, GabrielPérez Peña, FernandoEnvironment state mapsHippocampusNeuromorphic engineeringPosterior parietal cortexSpatial navigationSpiking neural networksSpiNNakerThe brain has great capacity for computation and efficient resolution of complex problems, far surpassing modern computers. Neuromorphic engineering seeks to mimic the basic principles of the brain to develop systems capable of achieving such capabilities. In the neuromorphic field, navigation systems are of great interest due to their potential applicability to robotics, although these systems are still a challenge to be solved. This work proposes a spike-based robotic navigation and environment pseudomapping system formed by a bioinspired hippocampal memory model connected to a posterior parietal cortex (PPC) model. The hippocampus is in charge of maintaining a representation of an environment state map, and the PPC is in charge of local decision-making. This system is implemented on the SpiNNaker hardware platform using spiking neural networks. A set of real-time experiments are applied to demonstrate the correct functioning of the system in virtual and physical environments on a robotic platform. The system is able to navigate through the environment to reach a goal position starting from an initial position, avoiding obstacles and mapping the environment. To the best of the authors’ knowledge, this is the first implementation of an environment pseudomapping system with dynamic learning based on a bioinspired hippocampal memory. © 2023 The Authors. Advanced Intelligent Systems published by Wiley-VCH GmbH.Ministerio de Educación, Cultura y Deporte (MECD). España PID2019‐105556GB‐C33Horizonte 2020 (Unión Europea) CHIST‐ERA‐18‐ACAI‐004Horizonte 2020 (Unión Europea) PCI2019‐111841‐2/AEI/10.13039/501100011033Ministerio de Ciencia e Innovación (MCIN) España AEI/10.13039/501100011033John Wiley and Sons IncArquitectura y Tecnología de Computadores2023info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionapplication/pdfapplication/pdfhttps://hdl.handle.net/11441/150227https://doi.org/10.1002/aisy.202300132reponame:idUS. Depósito de Investigación de la Universidad de Sevillainstname:Universidad de Sevilla (US)InglésAdvanced Intelligent Systems, 2300132.PID2019‐105556GB‐C33CHIST‐ERA‐18‐ACAI‐004PCI2019‐111841‐2/AEI/10.13039/501100011033AEI/10.13039/501100011033https://onlinelibrary.wiley.com/doi/10.1002/aisy.202300132info:eu-repo/semantics/openAccessoai:idus.us.es:11441/1502272026-06-17T12:51:07Z
dc.title.none.fl_str_mv Bioinspired Spike-Based Hippocampus and Posterior Parietal Cortex Models for Robot Navigation and Environment Pseudomapping
title Bioinspired Spike-Based Hippocampus and Posterior Parietal Cortex Models for Robot Navigation and Environment Pseudomapping
spellingShingle Bioinspired Spike-Based Hippocampus and Posterior Parietal Cortex Models for Robot Navigation and Environment Pseudomapping
Casanueva Morato, Daniel
Environment state maps
Hippocampus
Neuromorphic engineering
Posterior parietal cortex
Spatial navigation
Spiking neural networks
SpiNNaker
title_short Bioinspired Spike-Based Hippocampus and Posterior Parietal Cortex Models for Robot Navigation and Environment Pseudomapping
title_full Bioinspired Spike-Based Hippocampus and Posterior Parietal Cortex Models for Robot Navigation and Environment Pseudomapping
title_fullStr Bioinspired Spike-Based Hippocampus and Posterior Parietal Cortex Models for Robot Navigation and Environment Pseudomapping
title_full_unstemmed Bioinspired Spike-Based Hippocampus and Posterior Parietal Cortex Models for Robot Navigation and Environment Pseudomapping
title_sort Bioinspired Spike-Based Hippocampus and Posterior Parietal Cortex Models for Robot Navigation and Environment Pseudomapping
dc.creator.none.fl_str_mv Casanueva Morato, Daniel
Ayuso Martínez, Álvaro
Domínguez Morales, Juan Pedro
Jiménez Fernández, Ángel Francisco
Jiménez Moreno, Gabriel
Pérez Peña, Fernando
author Casanueva Morato, Daniel
author_facet Casanueva Morato, Daniel
Ayuso Martínez, Álvaro
Domínguez Morales, Juan Pedro
Jiménez Fernández, Ángel Francisco
Jiménez Moreno, Gabriel
Pérez Peña, Fernando
author_role author
author2 Ayuso Martínez, Álvaro
Domínguez Morales, Juan Pedro
Jiménez Fernández, Ángel Francisco
Jiménez Moreno, Gabriel
Pérez Peña, Fernando
author2_role author
author
author
author
author
dc.contributor.none.fl_str_mv Arquitectura y Tecnología de Computadores
dc.subject.none.fl_str_mv Environment state maps
Hippocampus
Neuromorphic engineering
Posterior parietal cortex
Spatial navigation
Spiking neural networks
SpiNNaker
topic Environment state maps
Hippocampus
Neuromorphic engineering
Posterior parietal cortex
Spatial navigation
Spiking neural networks
SpiNNaker
description The brain has great capacity for computation and efficient resolution of complex problems, far surpassing modern computers. Neuromorphic engineering seeks to mimic the basic principles of the brain to develop systems capable of achieving such capabilities. In the neuromorphic field, navigation systems are of great interest due to their potential applicability to robotics, although these systems are still a challenge to be solved. This work proposes a spike-based robotic navigation and environment pseudomapping system formed by a bioinspired hippocampal memory model connected to a posterior parietal cortex (PPC) model. The hippocampus is in charge of maintaining a representation of an environment state map, and the PPC is in charge of local decision-making. This system is implemented on the SpiNNaker hardware platform using spiking neural networks. A set of real-time experiments are applied to demonstrate the correct functioning of the system in virtual and physical environments on a robotic platform. The system is able to navigate through the environment to reach a goal position starting from an initial position, avoiding obstacles and mapping the environment. To the best of the authors’ knowledge, this is the first implementation of an environment pseudomapping system with dynamic learning based on a bioinspired hippocampal memory. © 2023 The Authors. Advanced Intelligent Systems published by Wiley-VCH GmbH.
publishDate 2023
dc.date.none.fl_str_mv 2023
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
format article
status_str publishedVersion
dc.identifier.none.fl_str_mv https://hdl.handle.net/11441/150227
https://doi.org/10.1002/aisy.202300132
url https://hdl.handle.net/11441/150227
https://doi.org/10.1002/aisy.202300132
dc.language.none.fl_str_mv Inglés
language_invalid_str_mv Inglés
dc.relation.none.fl_str_mv Advanced Intelligent Systems, 2300132.
PID2019‐105556GB‐C33
CHIST‐ERA‐18‐ACAI‐004
PCI2019‐111841‐2/AEI/10.13039/501100011033
AEI/10.13039/501100011033
https://onlinelibrary.wiley.com/doi/10.1002/aisy.202300132
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
application/pdf
dc.publisher.none.fl_str_mv John Wiley and Sons Inc
publisher.none.fl_str_mv John Wiley and Sons Inc
dc.source.none.fl_str_mv reponame:idUS. Depósito de Investigación de la Universidad de Sevilla
instname:Universidad de Sevilla (US)
instname_str Universidad de Sevilla (US)
reponame_str idUS. Depósito de Investigación de la Universidad de Sevilla
collection idUS. Depósito de Investigación de la Universidad de Sevilla
repository.name.fl_str_mv
repository.mail.fl_str_mv
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score 15.300724

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