Self-organization of spiking neural network generating autonomous behavior in a real mobile robot

Fady Alnajjar, Kazuyuki Murase

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

11 Citations (Scopus)

Abstract

In this paper, we study the relation between neural dynamics and robot behavior to develop self-organization algorithm of spiking neural network applicable to autonomous robot. We first formulated a spiking neural network model whose inputs and outputs were analog. We then implemented it into a miniature mobile robot Khepera. In order to see whether or not a solution(s) for the given task exists with the spiking neural network, the robot was evolved with the genetic algorithm (GA) in an environment. The robot acquired the obstacle avoidance and navigation task successfully, exhibiting the presence of the solution. Then, a self-organization algorithm based on the use-dependent synoptic potentiation and depotentiation was formulated and implemented into the robot. In the environment, the robot gradually organized the network and the obstacle avoidance behavior was formed. The time needed for the training was much less than with genetic evolution, approximately one fifth (1/5).

Original languageEnglish
Title of host publicationProceedings - International Conference on Computational Intelligence for Modelling, Control and Automation, CIMCA 2005 and International Conference on Intelligent Agents, Web Technologies and Internet
Pages1134-1139
Number of pages6
Publication statusPublished - 2005
Externally publishedYes
EventInternational Conference on Computational Intelligence for Modelling, Control and Automation, CIMCA 2005 and International Conference on Intelligent Agents, Web Technologies and Internet Commerce, IAWTIC 2005 - Vienna, Austria
Duration: Nov 28 2005Nov 30 2005

Publication series

NameProceedings - International Conference on Computational Intelligence for Modelling, Control and Automation, CIMCA 2005 and International Conference on Intelligent Agents, Web Technologies and Internet
Volume1

Conference

ConferenceInternational Conference on Computational Intelligence for Modelling, Control and Automation, CIMCA 2005 and International Conference on Intelligent Agents, Web Technologies and Internet Commerce, IAWTIC 2005
Country/TerritoryAustria
CityVienna
Period11/28/0511/30/05

ASJC Scopus subject areas

  • Engineering(all)

Fingerprint

Dive into the research topics of 'Self-organization of spiking neural network generating autonomous behavior in a real mobile robot'. Together they form a unique fingerprint.

Cite this