Name
Title | ||
|---|---|---|
A Simple Aplysia-Like Spiking Neural Network to Generate Adaptive Behavior in Autonomous Robots |
Abstract | ||
|---|---|---|
In this article, we describe an adaptive controller for an autonomous mobile robot with a simple structure. Sensorimotor connections were made using a three-layered spiking neural network (SNN) with only one hidden-layer neuron and synapses with spike timing-dependent plasticity (STDP). In the SNN controller, synapses from the hidden-layer neuron to the motor neurons received presynaptic modulation signals from sensory neurons, a mechanism similar to that of the withdrawal reflex circuit of the sea slug, Aplysia. The synaptic weights were modified dependent on the firing rates of the presynaptic modulation signal and that of the hidden-layer neuron by STDP. In experiments using a real robot, which uses a similar simple SNN controller, the robot adapted quickly to the given environment in a single trial by organizing the weights, acquired navigation and obstacle-avoidance behavior. In addition, it followed dynamical changes in the environment. This associative learning scheme can be a new strategy for constructing adaptive agents with minimal structures, and may be utilized as an essential mechanism of an SNN ensemble that binds multiple sensory inputs and generates multiple motor outputs. |
Year | DOI | Venue |
|---|---|---|
2008 | 10.1177/1059712308093869 | Adaptive Behaviour |
Keywords | Field | DocType |
aplysia · associative learning · autonomous mobile robot · presynaptic modulation · spike timing-dependent plasticity · spiking neural network,simple aplysia-like spiking neural,snn controller,motor neuron,autonomous robots,generate adaptive behavior,real robot,presynaptic modulation signal,adaptive controller,sensory neuron,hidden-layer neuron,similar simple snn controller,snn ensemble,autonomous mobile robot,adaptive behavior,spike timing dependent plasticity,spiking neural network,obstacle avoidance | Control theory,Synapse,Computer science,Artificial intelligence,Spike-timing-dependent plasticity,Associative learning,Neuron,Spiking neural network,Adaptive behavior,Mobile robot,Machine learning | Journal |
Volume | Issue | ISSN |
16 | 5 | 1059-7123 |
Citations | PageRank | References |
7 | 0.59 | 12 |
Authors | ||
2 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Fady Alnajjar | 1 | 66 | 12.23 |
| Kazuyuki Murase | 2 | 1038 | 75.66 |