Spatial Computing in Modular Spiking Neural Networks with a Robotic Embodiment

摘要

One of the challenges in modern neuroscience is creating a brain-on-a-chip. Such a semiartificial device based on neural networks grown in vitro should interact with the environment when embodied in a robot. A crucial point in this endeavor is developing a neural network architecture capable of associative learning. This work proposes a mathematical model of a midscale modular spiking neural network (SNN) to study learning mechanisms within the brain-on-a-chip context. We show that besides spike-timing-dependent plasticity (STDP), synaptic and neuronal competitions are critical factors for successful learning. Moreover, the shortest pathway rule can implement the synaptic competition responsible for processing conditional stimuli coming from the environment. This solution is ready for testing in neuronal cultures. The neuronal competition can be implemented by lateral inhibition actuating over the SNN modulus responsible for unconditional responses. Empirical testing of this approach is challenging and requires the development of a technique for growing cultures with a given ratio of excitatory and inhibitory neurons. We test the modular SNN embedded in a mobile robot and show that it can establish the association between touch (unconditional) and ultrasonic (conditional) sensors. Then, the robot can avoid obstacles without hitting them, relying on ultrasonic sensors only.