Robust path planning by propagating rhythmic spiking activity in a hippocampal network model

Abstract

It is believed that humans and animals like rodents and bats navigate in a familiar environment using a cognitive map. Yet, how maps are previously learned when exploring a novel environment and then used to plan routes to specific goals remains unclear. We propose here a biologically inspired method, called Multiwave, with two main ingredients: (i) a symmetric spike-timing dependent plasticity rule that compels the connectivity to map the environment, and (ii) periodic wavefronts propagating through the network to direct the agent towards the goal and increase robustness to noise. The modeling involves a detailed neural network for biological plausibility and a simplified equivalent network, better suited for robotic implementation. Using both simulations and robotic experiments, we show the efficiency of Multiwave for path planning. Multiwave is relevant not only to neuroscience, as the detailed model is biologically grounded, but also to robotic applications, as the simplified model is suitable for analog implementation on neuromorphic hardware.