Adaptive Behavior Control with Self-regulating Neurons

It is claimed that synaptic plasticity of neural controllers for autonomous robots can enhance the behavioral properties of these systems. Based on homeostatic properties of so called self-regulating neurons, the presented mechanism will vary the synaptic strength during the robot interaction with the environment, due to driving sensor inputs and motor outputs. This is exemplarily shown for an obstacle avoidance behavior in simulation.

[1]  Hywel T. P. Williams,et al.  Homeostatic plasticity in recurrent neural networks , 2004 .

[2]  Frank Pasemann,et al.  Dynamical Neural Schmitt Trigger for Robot Control , 2002, ICANN.

[3]  F. Pasemann.  DYNAMICS OF A SINGLE MODEL NEURON , 1993 .

[4]  Stanley J. Rosenschein,et al.  A dynamical systems perspective on agent-environment interaction , 1996 .

[5]  V. Braitenberg.  Vehicles, Experiments in Synthetic Psychology , 1984 .

[6]  Rolf Pfeifer,et al.  How the body shapes the way we think - a new view on intelligence , 2006 .

[7]  E. D. Paolo,et al.  Organismically-inspired robotics: homeostatic adaptation and teleology beyond the closed sensorimotor loop , 2003 .

[8]  W. Ashby,et al.  Design for a brain: The origin of adaptive behaviour (2nd ed. rev.). , 1960 .

[9]  Sethu Vijayakumar,et al.  Adaptive Optimal Control for Redundantly Actuated Arms , 2008, SAB.

[10]  G. Turrigiano.  Homeostatic plasticity in neuronal networks: the more things change, the more they stay the same , 1999, Trends in Neurosciences.

[11]  Frank Pasemann,et al.  Structure and function of evolved neuro-controllers for autonomous robots , 2004, Connect. Sci..

[12]  Jeffrey L. Krichmar,et al.  Evolutionary robotics: The biology, intelligence, and technology of self-organizing machines , 2001, Complex..

[13]  F. Pasemann.  Complex dynamics and the structure of small neural networks , 2002, Network.

[14]  David C. Sterratt,et al.  Does Morphology Influence Temporal Plasticity? , 2002, ICANN.

[15]  R. Der,et al.  True autonomy from self-organized adaptivity , 2002 .

[16]  Rolf Pfeifer,et al.  How the Body Shapes the Way We Think: A New View of Intelligence (Bradford Books) , 2006 .

[17]  W. Cannon.  The Wisdom of the Body , 1932 .