RT journal article
T1 Bioinspired Spike-Based Hippocampus and Posterior Parietal Cortex Models for Robot Navigation and Environment Pseudomapping
A1 Casanueva-Morato, Daniel
A1 Ayuso-Martinez, Alvaro
A1 Domínguez Morales, Juan P.
A1 Jimenez Fernandez, Angel
A1 Jiménez Moreno, Gabriel
A1 Pérez Peña, Fernando
A2 Ingeniería en AutomáticaElectrónica, Arquitectura y Redes de Computadores
K1 SpiNNaker
K1 spiking neural networks
K1 spatial navigation
K1 posterior parietal cortex
K1 neuromorphic engineering
K1 hippocampus
K1 environment state maps
AB 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.
PB Wiley-VCH GmbH
SN 2640-4567
YR 2023
FD 2023
LK http://hdl.handle.net/10498/31607
UL http://hdl.handle.net/10498/31607
LA eng
DS Repositorio Institucional de la Universidad de Cádiz
RD 10-may-2026