Training of a leaning agent for Navigation-inspired by brain-Machine interface

Abstract

The design clue for the remote control of a mobile robot is inspired by the Talwar's brain-machine interface technology for remotely training and controlling rats. Our biologically inspired autonomous robot control consciousness-based architecture (CBA) is used for the remote control of a robot as a substitute for a rat. CBA is a developmental hierarchy model of the relationship between consciousness and behavior, including a training algorithm. This training algorithm computes a shortcut path to a goal using a cognitive map created based on behavior obstructions during a single successful trial. However, failures in reaching the goal due to errors of the vision and dead reckoning sensors require human intervention to improve autonomous navigation. A human operator remotely intervenes in autonomous behaviors in two ways: low-level intervention in reflexive actions and high-level ones in the cognitive map. Experiments are conducted to test CBA functions for intervention with a joystick for a Khepera robot navigating from the center of a square obstacle with an open side toward a goal. Their statistical results show that both human interventions, especially high-level ones, are effective in drastically improving the success rate of autonomous detours.

Active Sensor Planning for Multiview Vision Tasks

“…Biologically inspired, Kitamura and Nishino (2006) use a consciousness-based architecture (CBA) for the remote control of an autonomous robot as a substitute for a rat. They deal specifically with the situation in which the only constraint on the target"s velocity is a bound on speed (i.e., there are no nonholonomic constraints on the target"s motion), and the observer is a nonholonomic, differential drive system having bounded speed.…”

Emotional System with Consciousness and Behavior Using Dopamine

“…In addition, however, he indicates that robots should not be equipped with human-like emotions. In my laboratory, an animal's adjustment to its environment has been studied in an attempt to emulate its behavior (N. Goto, E. Hayashi (2008), Tadashi Kitamura, Daisuke Nishino (2006)), and attempts have been made to give robots "consciousness" and "emotion" such as that identified in humans and animals to enhance the affinity between humans and robots. These efforts may allow us to meet some of the requirements (E. Hayashi.…”