MICHAEL MILFORD, DAVID PRASSER, AND GORDON WYETH FOLAMI ALAMUDUN GRADUATE STUDENT COMPUTER SCIENCE &...
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Transcript of MICHAEL MILFORD, DAVID PRASSER, AND GORDON WYETH FOLAMI ALAMUDUN GRADUATE STUDENT COMPUTER SCIENCE &...
MICHAEL MILFORD, DAVID PRASSER, AND GORDON WYETH
FOLAMI ALAMUDUN
GRADUATE STUDENTCOMPUTER SCIENCE & ENGINEERING
TEXAS A&M UNIVERSITY
RatSLAM on the Edge: Revealing a Coherent Representation from
an Overloaded Rat Brain
OUTLINE
OverviewRatSLAMExperience MappingGoal Recall Using Experience MapsExperiment ResultsDiscussion
OVERVIEW
In order for a robot to navigate intelligently :
It must possess a means of acquiring and storing information about past experiences; and
It must possess the ability to use make decisions based on this information.
OVERVIEW
What is SLAM?Simultaneous Localization and
Mapping
Determine the state of the world:
What does the world look like?
Determine location in the observed world:
Where in the world am I?Where in the world…?
OUTLINE
OverviewRatSLAMExperience MappingGoal Recall Using Experience MapsExperiment ResultsDiscussion
ratSLAM
Why are we SLAM-ing?Maps are used to depict the environment for
an overview and to determine location within the perceived environment.
Locating and mapping under conditions of errors and of noise is very complex.
Simultaneous localization and mapping (SLAM).
Inspired by computational models of hippocampus in rodents.
Hippocampus is a part of the brain that plays an important role in long-term memory and spatial navigation
Neurons in the rat and mouse hippocampus respond as place cells.
Place cells exhibit a high rate of firing whenever an animal is in a location in an environment corresponding to the cell's "place field"
Place Field are patterns of neural activity that correspond to locations in space
ratSLAM
ratSLAM
RatSLAM is an implementation of a hippocampal model of robot control:
To provide a new and effective method for the mobile robot problem of (SLAM); and
To reproduce a high-level brain function in a robot in order to increase the understanding of memory and learning in mammals.
ratSLAM – Local View
Local View (LV):A form of representation processed from vision
information from camera imagesCalibrates the robot’s state informationStored and associated with the currently
active pose cells.If familiar, the current visual scene also
causes activity to be injected into the pose cells associated with the currently active LV cells.
ratSLAM – Pose Cell
3-D pose cell model. Each dimension corresponds to one of the three state variables of a ground-based robot
Θ`
y`
x`
ratSLAM – Pose Cell
Pose Cell:A three-dimensional structured competitive
attractor neural network.Combines the characteristics of place and
head-direction cellsEach axis of the structure corresponds to a
different state variable, x′, y′ and θ′
ratSLAM
How it works:Wheel encoder information is used to perform
path integration by shifting the current pose cell activity.
Vision information is converted into a local view.
Local view cell is associated with the currently active pose cells.
If familiar, activity is injected into the particular pose cells associated with the currently active local view cells.
ratSLAM
Hashing collisions in the Pose Cells:Vision information starts to cause more
frequent loop closures. Leads to discontinuities in the pose cell
matrix.Multiple representations of the same physical
areas in the environment.Clusters of pose cells become associated with
more than one pose.Hashing collisions within pose cells are
unavoidable.
OUTLINE
OverviewRatSLAMExperience MappingGoal Recall Using Experience MapsExperiment ResultsDiscussion
EXPERIENCE MAPPING
Experience mapping algorithm is the creation and maintenance of a collection of experiences and inter-experience links.
This produces a spatially continuous map without collisions from the messy representations found in the pose cells.
It does this by combining information from the pose cells with the Local View cells and the robot's current behavior
EXPERIENCE MAPPING
Experience Mapping:The algorithm uses output from pose cells
and local view cells to create an experience map.
A graph-like map containing nodes (experiences) and links between experiences.
Each node represents a snapshot of the activity within pose cells and local view cells.
New experience nodes is created as needed.
EXPERIENCE MAPPING
Experience GenerationEach experience has its own (x′, y′, θ′, V ).
where x’, y’, and ′ are the three state variables. V describes the visual scene associated with the experience.
Output from the pose cells and local view cells is used to create a map made up of robot experiences.
Inter-experience links store temporal, behavioral, and odometric information about the robot's movement between experiences.
EXPERIENCE MAPPING
Experience zone of influence:Activity is dependent on how close the activity
peaks in the pose cells and local view cells are to the cells associated with the experience.
EXPERIENCE MAPPING
x'PC, ,YPC and θ' - coordinates of the dominant activity packet, x'i, yI, and θ‘ - coordinates of the associated experience i, ra is the zone constant for the (x',y') plane, and0a is the zone constant for the 0' dimension.
EXPERIENCE MAPPING
Experience zone Visual scene
V is the current visual scene. Vi is the visual scene associate with
experience i.Ex’y’θ’ is the visual scene energy component.
EXPERIENCE MAPPING
Experience Mapping:As the robot moves around a novel
environment, it needs to generate experiences to form a representation of the world.
Learning of new experiences is triggered not only by exploring in new areas of an environment, but also by visual changes in areas the robot has already explored.
OUTLINE
OverviewRatSLAMExperience MappingGoal Recall Using Experience MapsExperiment ResultsDiscussion
GOAL RECOLLECTION
Experience Transitions:
Transitions represent the physical movement of the robot in theworld as it moves from one experience to another.
GOAL RECOLLECTION
Experience Transitions:
dpij is a vector describing the position and orientation of experience j relative to experience i.
GOAL RECOLLECTION
Map Correction:Discrepancies between a transition's odometric informationand the linked experiences' coordinates are minimized through a process of map correction:
OUTLINE
OverviewRatSLAMExperience MappingGoal Recall Using Experience MapsExperiment ResultsDiscussion