Neuromodulation based control of autonomous robots in ROS environment

Cameron Muhammad, Biswanath Samanta

Research output: Contribution to book or proceedingConference articlepeer-review

2 Scopus citations

Abstract

The paper presents a control approach based on vertebrate neuromodulation and its implementation on autonomous robots in the open-source, open-access environment of robot operating system (ROS) within a cloud computing framework. A spiking neural network (SNN) is used to model the neuromodulatory function for generating context based behavioral responses of the robots to sensory input signals. The neural network incorporates three types of neurons- cholinergic and noradrenergic (ACh/NE) neurons for attention focusing and action selection, dopaminergic (DA) neurons for rewards- and curiosity-seeking, and serotonergic (5-HT) neurons for risk aversion behaviors. The model depicts description of neuron activity that is biologically realistic but computationally efficient to allow for large-scale simulation of thousands of neurons. The model is implemented using graphics processing units (GPUs) for parallel computing in real-time using the ROS environment. The model is implemented to study the risk-taking, risk-aversive, and distracted behaviors of the neuromodulated robots in single- and multi-robot configurations. The entire process is implemented in a distributed computing framework using ROS where the robots communicate wirelessly with the computing nodes through the on-board laptops. Results are presented for both single- and multi-robot configurations demonstrating interesting behaviors.

Original languageEnglish
Title of host publicationIEEE SSCI 2014 - 2014 IEEE Symposium Series on Computational Intelligence - CCMB 2014
Subtitle of host publication2014 IEEE Symposium on Computational Intelligence, Cognitive Algorithms, Mind, and Brain, Proceedings
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages16-23
Number of pages8
ISBN (Electronic)9781479945504
DOIs
StatePublished - Jan 23 2014
Event2014 IEEE Symposium on Computational Intelligence, Cognitive Algorithms, Mind, and Brain, CCMB 2014 - Orlando, United States
Duration: Dec 9 2014Dec 12 2014

Publication series

NameIEEE SSCI 2014 - 2014 IEEE Symposium Series on Computational Intelligence - CCMB 2014: 2014 IEEE Symposium on Computational Intelligence, Cognitive Algorithms, Mind, and Brain, Proceedings

Conference

Conference2014 IEEE Symposium on Computational Intelligence, Cognitive Algorithms, Mind, and Brain, CCMB 2014
Country/TerritoryUnited States
CityOrlando
Period12/9/1412/12/14

Keywords

  • Artificial neural networks
  • cloud robotics
  • CUDA
  • GPU
  • Izhikevich spiking neuron
  • neuromodulation
  • neurorobotics
  • parallel computing
  • robot operating system
  • spiking neural networks

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