An incremental episodic memory framework for topological map building

Wei Hong Chin, Azhar Aulia Saputra, Yuichiro Toda, Naoyuki Kubota

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

2 Citations (Scopus)

Abstract

In this paper, an episodic memory learning framework is proposed for categorizing and encoding sensory information that acquired from a robot for environment adaptation and sensorimotor map building. The proposed learning model termed as Incremental Episodic Memory Adaptive Resonance Theory (In-EMART), consists two layers of ART networks which used to detect novel event encountered by the robot and learn the spatio-temporal relationship by creating neurons incrementally. A set of connected episodes forms a sensorimotor map that can be used for path planning and goal navigation autonomously. The experimental results for a mobile robot show that: (i) In-EMART can learn sensory data in real time which is important for robot implementation; (ii) the model solves the perceptual aliasing issue by recalling the connected episode neurons; (iii) compared with previous works, the proposed method further generates a sensorimotor map for connecting episodes together to navigate from one place to another continuously.

Original languageEnglish
Title of host publicationInternational Electronics Symposium on Knowledge Creation and Intelligent Computing, IES-KCIC 2018 - Proceedings
EditorsTri Hadiah Muliawati, Muhammad Febrian Ardiansyah, Dewi Mutiara Sari, Desy Intan Permatasari, Mu'arifin
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages322-327
Number of pages6
ISBN (Electronic)9781538680797
DOIs
Publication statusPublished - Jan 28 2019
Externally publishedYes
Event2018 International Electronics Symposium on Knowledge Creation and Intelligent Computing, IES-KCIC 2018 - Bali, Indonesia
Duration: Oct 29 2018Oct 30 2018

Publication series

NameInternational Electronics Symposium on Knowledge Creation and Intelligent Computing, IES-KCIC 2018 - Proceedings

Conference

Conference2018 International Electronics Symposium on Knowledge Creation and Intelligent Computing, IES-KCIC 2018
CountryIndonesia
CityBali
Period10/29/1810/30/18

Keywords

  • Cognitive Map
  • Episodic Memory
  • Robot Navigation
  • SLAM

ASJC Scopus subject areas

  • Artificial Intelligence
  • Signal Processing

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