Solving Navigational Uncertainty Using Grid Cells on Robots 英文参考文献.docVIP

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Solving Navigational Uncertainty Using Grid Cells on Robots 英文参考文献.doc

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Solving Navigational Uncertainty Using Grid Cells on Robots 英文参考文献

SolvingNavigationalUncertaintyUsingGridCellson Robots MichaelJ.Milford1,2*,JanetWiles2,GordonF.Wyeth1,2 1School of Engineering Systems, Queensland University of Technology, Brisbane, Australia, 2School of Information Technology and Electrical Engineering and QueenslandBrainInstitute,TheUniversityofQueensland,Brisbane,Australia Abstract To successfully navigate their habitats, many mammals use a combination of two mechanisms, path integration and calibrationusinglandmarks,whichtogetherenablethemtoestimatetheirlocationandorientation,orpose.Inlargenatural environments, both these mechanisms are characterized by uncertainty: the path integration process is subject to the accumulationoferror,whilelandmarkcalibrationislimitedbyperceptualambiguity.Itremainsunclearhowanimalsform coherentspatialrepresentationsinthepresenceofsuchuncertainty.Navigationresearchusingrobotshasdeterminedthat uncertaintycanbeeffectivelyaddressedbymaintainingmultipleprobabilisticestimatesofarobot’spose.Hereweshow howconjunctivegridcellsindorsocaudalmedialentorhinalcortex(dMEC)maymaintainmultipleestimatesofposeusinga brain-based robot navigation system known as RatSLAM. Based both on rodent spatially-responsive cells and functional engineeringprinciples,thecellsatthecoreoftheRatSLAMcomputationalmodelhavesimilarcharacteristicstorodentgrid cells, which we demonstrate by replicating the seminal Moser experiments. We apply the RatSLAM model to a new experimentalparadigmdesignedtoexaminetheresponsesofarobotoranimalinthepresenceofperceptualambiguity. Our computational approach enables us to observe short-term population coding of multiple location hypotheses, a phenomenon which would not be easily observable in rodent recordings. We present behavioral and neural evidence demonstratingthattheconjunctivegridcellsmaintainandpropagatemultipleestimatesofpose,enablingthecorrectpose estimatetoberesolvedovertimeevenwithoutuniquelyidentifyingcues.Whilerecentresearchhasfocusedonthegrid-like firingcharacteristics,a