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Signal representation and computational principles discovered in biological neural networks have long challenged our assumptions on how to build artificial robotic systems. In the context of spatial navigation, this work assumes that ‘place’ cells, found in the mammalian hippocampus, are involved in providing directions to a distant, but previously visited goal. This work uses a sparse topological...
Studies of bat echolocation and flight typically involve microphone array recordings from the ground, sometimes synchronized with video recordings. When multiple bats interact, it is often a challenge to assign a given call to the vocalizing bat. We have designed a lightweight, inexpensive device to display bat-tagged echolocation events using a head-mounted light-emitting diode (LED) that flashes...
A path planning model using hippocampal place cells is presented. It is inspired by sequential place cell activity observed in rodents, which is believed to represent goal-directed planning behavior. The utility of this model, implemented with spiking neuromorphic VLSI neurons, is demonstrated in a motion planning task on a four-segment robotic arm.
Neurophysiological experiments in the hippocampal formation of echolocating bats have found grid cells (thought to be used for odometry) as in other mammals, but without continuous theta frequency oscillations (∼8 Hz) prominent in other mammals. We describe a ‘theta-free’ model of grid cell property creation for echolocating bats that is amenable to VLSI implementation of hippocampal models of spatial...
Neurons in the medial entorhinal cortex of rats have been found to respond in a two-dimensional hexagonal “grid” pattern anchored to the environment. “Grid cells” with different spatial frequencies are thought to contribute to the creation of unimodal “place” cell responses useful for spatial navigation. In this paper we present results from an analog VLSI circuit that generates a hexagonal grid of...
Many animals are known to maintain an internal estimate of their orientation in the environment. In the absence of external sensory cues, this estimate inevitably exhibits drift. When sensory information is available, associations between sensory landmarks and the internal estimate can be used to correct for drift. In this paper we present a neuromorphic system to model such associations between sensory...
Echolocating bats have long demonstrated the potential for air-coupled sonar to guide agile navigation through complex 3D environments. While air-coupled sonar has been extensively used in mobile ground robotics and a considerable amount of the bat's auditory system has been studied, little work has been done to understand how the neural circuitry of the bat can integrate echoes into a coherent, behaving...
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