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Modèles de mémoires pour la navigation autonome

Nicolas Rougier 1
1 CORTEX - Neuromimetic intelligence
INRIA Lorraine, LORIA - Laboratoire Lorrain de Recherche en Informatique et ses Applications
Abstract : We propose a method for autonomous agent navigation problem grounded on a connectionist architecture inspired by neurobiological data concerning cortex and hippocampus, a sub-cortical structure. Our approach is grounded on distinction between memories: cerebral cortex is believed to be implied within procedural memory, allowing learning of procedures, while hippocampus is believed to be implied within declarative memory, allowing explicit memorization of facts and events. Our works concerns modeling of these memories in the framework of autonomous behavior. The study of these different memories underlines the importance of this procedural/declarative dichotomy in cognitive tasks while autonomous navigation study underlines the topological cognitive map notion as well as the necessity of having at disposal ad hoc memory systems. Our modeling work is separated in two parts. Available data concerning human cortex allow us to model a procedural memory for the construction of links between places of a simulated environment allowing a goal-guided search as well as the possibility of reaching anytime any known place in the environment. Furthermore, available data concerning hippocampus allow us to model a declarative memory system. The architecture of the model as well as the original mechanisms implied make this system able to handle both simulated and real-world data. This mode finally allows to characterize and memorize the dfferent places of a given environment.
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Submitted on : Friday, June 24, 2011 - 8:45:28 AM
Last modification on : Friday, February 4, 2022 - 3:14:56 AM
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  • HAL Id : tel-01746477, version 2


Nicolas Rougier. Modèles de mémoires pour la navigation autonome. Modélisation et simulation. Université Henri Poincaré - Nancy 1, 2000. Français. ⟨NNT : 2000NAN10122⟩. ⟨tel-01746477v2⟩



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