Abstract
Abstract
A neuromorphic simultaneous localization and mapping (SLAM) system shows potential for more efficient implementation than its traditional counterpart. At the mean time a neuromorphic model of spatial encoding neurons in silicon could provide insights on the functionality and dynamic between each group of cells. Especially when realistic factors including variations and imperfections on the neural movement encoding are presented to challenge the existing hypothetical models for localization. We demonstrate a mixed-mode implementation for spatial encoding neurons including theta cells, egocentric place cells, and the typical allocentric place cells. Together, they form a biologically plausible network that could reproduce the localization functionality of place cells observed in rodents. The system consists of a theta chip with 128 theta cell units and an FPGA implementing 4 networks for egocentric place cells formation that provides the capability for tracking on a 11 by 11 place cell grid. Experimental results validate the robustness of our model when suffering from as much as 18% deviation, induced by parameter variations in analog circuits, from the mathematical model of theta cells. We provide a model for implementing dynamic neuromorphic SLAM systems for dynamic-scale mapping of cluttered environments, even when subject to significant errors in sensory measurements and real-time analog computation. We also suggest a robust approach for the network topology of spatial cells that can mitigate neural non-uniformity and provides a hypothesis for the function of grid cells and the existence of egocentric place cells.