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Spatial map learning with self-organizing adaptive recurrent incremental network

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Biological information inspires the advancement of a navigational mechanism for autonomous robots to help people explore and map real-world environments. However, the robot’s ability to constantly acquire environmental information in real-world, dynamic environments has remained a challenge for many years. In this paper, we propose a self-organizing adaptive recurrent incremental network that models human episodic memory to learn spatiotemporal representations from novel sensory data. The proposed method termed as SOARIN consists of two main learning process that is active learning and episodic memory playback. For active learning (robot exploration), SOARIN quickly learns and adapts incoming novel sensory data as episodic neurons via competitive Hebbian Learning. Episodic neurons are connecting with each other and gradually forms a spatial map that can be used for robot localization. Episodic memory playback is triggered whenever the robot is in an inactive mode (charging or hibernating). During playback, SOARIN gradually integrates knowledge and experience into more consolidate spatial map structures that can overcome the catastrophic forgetting. The proposed method is analyzed and evaluated in term of map learning and localization through a series of real robot experiments in real-world indoor environments.
Original languageEnglish
Title of host publication2019 International Joint Conference on Neural Networks (IJCNN)
PublisherIEEE
Number of pages6
ISBN (Electronic)978-1-7281-1985-4
ISBN (Print)978-1-7281-1986-1
DOIs
Publication statusPublished - 30 Sep 2019

Publication series

NameProceedings of the International Joint Conference on Neural Networks
PublisherIEEE
ISSN (Print)2161-4407

Documents

  • ijcnn_2019_Spatial_Map_Learning

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    Accepted author manuscript (Post-print), 1.85 MB, PDF document

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