NDLI: A Self-Organizing Context-Based Approach to the Tracking of Multiple Robot Trajectories

Content Provider	Springer Nature Link
Author	Araújo, Aluizio F.R. Barreto, Guilherme de A.
Copyright Year	2002
Abstract	We have combined competitive and Hebbian learning in a neural network designed to learn and recall complex spatiotemporal sequences. In such sequences, a particular item may occur more than once or the sequence may share states with another sequence. Processing of repeated/shared states is a hard problem that occurs very often in the domain of robotics. The proposed model consists of two groups of synaptic weights: competitive interlayer and Hebbian intralayer connections, which are responsible for encoding respectively the spatial and temporal features of the input sequence. Three additional mechanisms allow the network to deal with shared states: context units, neurons disabled from learning, and redundancy used to encode sequence states. The network operates by determining the current and the next state of the learned sequences. The model is simulated over various sets of robot trajectories in order to evaluate its storage and retrieval abilities; its sequence sampling effects; its robustness to noise and its tolerance to fault.
Starting Page	101
Ending Page	119
Page Count	19
File Format	PDF
ISSN	0924669X
Journal	Applied Intelligence
Volume Number	17
Issue Number	1
e-ISSN	15737497
Language	English
Publisher	Kluwer Academic Publishers
Publisher Date	2002-01-01
Publisher Place	Boston
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Artificial Intelligence (incl. Robotics) Mechanical Engineering Manufacturing, Machines, Tools
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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