Corrigendum: Ring attractor bio-inspired neural network for social robot navigation.

[This corrects the article DOI: 10.3389/fnbot.2023.1211570.].

Ring attractor bio-inspired neural network for social robot navigation.

Introduction: We introduce a bio-inspired navigation system for a robot to guide a social agent to a target location while avoiding static and dynamic obstacles. Robot navigation can be accomplished through a model of ring attractor neural networks. This connectivity pattern between neurons enables the generation of stable activity patterns that can represent continuous variables such as heading direction or position. The integration of sensory representation, decision-making, and motor control through ring attractor networks offers a biologically-inspired approach to navigation in complex environments. Methods: The navigation system is divided into perception, planning, and control stages. Our approach is compared to the widely-used Social Force Model and Rapidly Exploring Random Tree Star methods using the Social Individual Index and Relative Motion Index as metrics in simulated experiments. We created a virtual scenario of a pedestrian area with various obstacles and dynamic agents. Results: The results obtained in our experiments demonstrate the effectiveness of this architecture in guiding a social agent while avoiding obstacles, and the metrics used for evaluating the system indicate that our proposal outperforms the widely used Social Force Model. Discussion: Our approach points to improving safety and comfort specifically for human-robot interactions. By integrating the Social Individual Index and Relative Motion Index, this approach considers both social comfort and collision avoidance features, resulting in better human-robot interactions in a crowded environment.

Decision-making neural circuits mediating social behaviors : An attractor network model.

We propose a mathematical model of a continuous attractor network that controls social behaviors. The model is examined with bifurcation analysis and computer simulations. The results show that the model exhibits stable steady states and thresholds for steady state transitions corresponding to some experimentally observed behaviors, such as aggression control. The performance of the model and the relation with experimental evidence are discussed.

A saliency-based bottom-up visual attention model for dynamic scenes analysis.

This work proposes a model of visual bottom-up attention for dynamic scene analysis. Our work adds motion saliency calculations to a neural network model with realistic temporal dynamics [(e.g., building motion salience on top of De Brecht and Saiki Neural Networks 19:1467-1474, (2006)]. The resulting network elicits strong transient responses to moving objects and reaches stability within a biologically plausible time interval. The responses are statistically different comparing between earlier and later motion neural activity; and between moving and non-moving objects. We demonstrate the network on a number of synthetic and real dynamical movie examples. We show that the model captures the motion saliency asymmetry phenomenon. In addition, the motion salience computation enables sudden-onset moving objects that are less salient in the static scene to rise above others. Finally, we include strong consideration for the neural latencies, the Lyapunov stability, and the neural properties being reproduced by the model.

Color coding in the cortex: a modified approach to bottom-up visual attention.

Itti and Koch's (Vision Research 40:1489-1506, 2000) saliency-based visual attention model is a broadly accepted model that describes how attention processes are deployed in the visual cortex in a pure bottom-up strategy. This work complements their model by modifying the color feature calculation. Evidence suggests that S-cone responses are elicited in the same spatial distribution and have the same sign as responses to M-cone stimuli; these cells are tentatively referred to as red-cyan. For other cells, the S-cone input seems to be aligned with the L-cone input; these cells might be green-magenta cells. To model red-cyan and green-magenta double-opponent cells, we implement a center-surround difference approach of the aforementioned model. The resulting color maps elicited enhanced responses to color salient stimuli when compared to the classic ones at high statistical significance levels. We also show that the modified model improves the prediction of locations attended by human viewers.

Heart rate variability dynamics for the prognosis of cardiovascular risk.

Statistical, spectral, multi-resolution and non-linear methods were applied to heart rate variability (HRV) series linked with classification schemes for the prognosis of cardiovascular risk. A total of 90 HRV records were analyzed: 45 from healthy subjects and 45 from cardiovascular risk patients. A total of 52 features from all the analysis methods were evaluated using standard two-sample Kolmogorov-Smirnov test (KS-test). The results of the statistical procedure provided input to multi-layer perceptron (MLP) neural networks, radial basis function (RBF) neural networks and support vector machines (SVM) for data classification. These schemes showed high performances with both training and test sets and many combinations of features (with a maximum accuracy of 96.67%). Additionally, there was a strong consideration for breathing frequency as a relevant feature in the HRV analysis.