S-114.220 Laskennallisen tieteen
The topic of the course in fall 2003 is
Spatial cognition and biomimetic robot navigation (2 cr)
27+27 (2+2) sl
Teachers: Prof. Jouko Lampinen, Dr.Tech. Aki Vehtari
Place and time:
Please fill in course evaluation form.
- The seminars take place every Thursday at 9-11
- The location is B317
(the seminar room of Laboratory of computational engineering, see
register for the course using webtopi or if your are not a HUT student, send email to
- Spatial cognition
- Human and animal navigation
- Insect flying mechanisms
- Biomimetic robot navigation
- Active participation in the seminars
- Seminar presentation
- Small exercise
- The language of the seminar is English.
| Date || Talker || Co-author || Subject |
| 2.10. || Olli Haavisto || Jan Zizka || The searching behaviour of desert animals |
| 2.10. || Jan Zizka || Olli Haavisto || Integration of biomimetic navigation hierarchy levels |
| 9.10. || Laura Laitinen || Aapo Nummenmaa || Navigation memory |
| 9.10. || Aapo Nummenmaa || Laura Laitinen || Modelling spatial navigation|
| 16.10. || Marjaana Träskbäck || Miikka Tikander || View-graph approach to visual navigation |
| 16.10. || || || |
| 23.10. || Reino Ruusu || Janne
Lehtonen|| Snapshot based navigation|
References: Wehner et al.: Visual navigation in insects, Lambrinos et al.: A mobile robot employing insect strategies for navigation
| 23.10. || Ramunas Girdziusas || Reino Ruusu || How honeybees measure and communicate distances |
| 30.10. || Janne Lehtonen || Ramunas
Girdziusas || Path integration in insect navigation|
et al.: Ant odometry in the third dimension, T. Collett & M. Collett: Path integration in insects
| 30.10. || || || |
| 6.11. || Jere Knuuttila || José María Vallet || Bird navigation |
| 6.11. || José María Vallet || Jere Knuuttila
|| Cognitive maps in humans, animals and robots |
| 13.11. || Sami Terho || Janne Paanajärvi || Beacons and landmarks |
| 13.11. || Janne Paanajärvi || Sami Terho || Rat navigation |
| 20.11. ||   ||   || Introduction to the software tools for the project work|
Short presentations, 10 minute each
| Date || Talker |
| 27.11. || Olli Haavisto |
|   || Reino Ruusu |
|   || Janne Lehtonen |
|   || Jere Knuuttila |
|   || Jan Zizka |
|   || Jose Maria Vallet |
| 4.12. || Sami Terho |
|   || Ramunas Girdziusas |
|   || Marjaana Träskbäck |
|   || Laura Laitinen |
|   || Aapo Nummenmaa |
|   || Janne Paanajärvi |
Home assignment due to 18.9.
Before the second meeting read the paper Biomimetic
robot navigation by Franz and Mallot. Check part
titles from the contents of books Spatial Cognition I-III.
You may also read some other paper or web pages. Make a
mind-map, a bullet list or one page essay of issuses you
think are important and should be discussed on the course.
Think about big picture and also think about different robot
applications and differenet navigation skills required.
Think what we can learn from animals and humans, and how
could we find out how the animals and humans navigate. Be
prepared to justify your views.
To simulate scientific writing, for every talk there is first
author and second author. Every student is first author for one
talk and second author for another talk. First author first
writes the paper, second author gives comments and helps to
improve it and both authors discuss about the presentation with
teachers. The first author prepares the talk and second author
again gives comments and helps to improve the presentation.
First author presents the talk. Names of both authors are shown
in the paper and in the slides. Normal talk is 30-40 minutes.
To simulate scientific conferences, in addition to 30-40
talk, everyone presents 10-15 minute (depending how much time
we have left at the end of the course) condensed version of
M. O. and Mallot, H. A. : Biomimetic
robot navigation. Robotics and Autonomous Systems 30,
program on Spatial Cognition funded by the German Science
- Subproject Robot
Vision, Navigation and "Cognition" Laboratory
- Biorobotic Vision Laboratory
- Spatial Cognition
- Spatial Cognition II
- Spatial Cognition III
- Maguire, E. A. et al. (1998). Knowing Where and Getting There: A
Human Navigation Network, Science, 280:921-924
- Burwell, R. D. and Hafeman, D. M. (2003). Neuroscience
- Hochmair, H. and Frank A. U. (2000). Influence of estimation
errors on wayfinding-decisions in unknown street networks -
analyzing the least-angle strategy, Spatial Cognition and
- Waller, D. et al. (2000). Place learning in humans: The role of
distance and direction information, Spatial Cognition and
- Koene R. A. et al. (2003). Modeling goal-directed
spatial navigation in the rat based on physiological data
from the hippocampal formation, Neural Networks, 16(5-6):577-84.
- Coombs, D. and Roberts, K. (1993). Centering behavior using
peripheral vision, 1993 IEEE Computer Society
Conference on Computer Vision and Pattern Recognition, 15-17.
- Esch, H. et al. (2001). Honeybee dances communicate distances
measured by optic flow. Nature (Lond) 411:581-583.
- Srinivasan, M. V. et al. (2000). Honeybee navigation:
nature and calibration of the 'odometer'. Science
- and more...
After the course:
After the course we'll arrange a separate project course for those who
wish to test biomimetic navigation with a real robot.
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Sivua on viimeksi päivitetty 29.08.2003