Autonomous Robot Controller Using Bitwise GIBBS Sampling

Abstract : In the present paper we describe a bio-inspired non von Neumann controller for a simple sensorimotor robotic system. This controller uses a bitwise version of the Gibbs sampling algorithm to select commands so the robot can adapt its course of action and avoid perceived obstacles in the environment. The VHDL specification of the circuit implementation of this controller is based on stochastic computation to perform Bayesian inference at a low energy cost. We show that the proposed unconventional architecture allows to successfully carry out the obstacle avoidance task and to address scalability issues observed in previous works.
Complete list of metadatas

Cited literature [15 references]  Display  Hide  Download

https://hal.inria.fr/hal-01316568
Contributor : Dominique Vaufreydaz <>
Submitted on : Saturday, August 27, 2016 - 10:37:16 PM
Last modification on : Monday, February 25, 2019 - 4:34:19 PM
Long-term archiving on : Monday, November 28, 2016 - 12:11:30 PM

File

AuthorVersion.pdf
Files produced by the author(s)

Identifiers

  • HAL Id : hal-01316568, version 1

Citation

Rémi Canillas, Raphael Laurent, Marvin Faix, Dominique Vaufreydaz, Emmanuel Mazer. Autonomous Robot Controller Using Bitwise GIBBS Sampling. 15th IEEE International Conference on COGNITIVE INFORMATICS & COGNITIVE COMPUTING, Aug 2016, Calgary, Canada. ⟨hal-01316568⟩

Share

Metrics

Record views

1132

Files downloads

292