{"title":"Simultaneous Localisation and Planning","authors":"W. Penny","doi":"10.1109/CIP.2014.6844499","DOIUrl":null,"url":null,"abstract":"This paper proposes an algorithm for the solution of the Simultaneous Localisation and Planning problem. The solution is based on statistical inference in a Hidden Markov Model which proceeds in separate phases of localisation and planning. Each requires access to the same contextual model operationalised via the `prior dynamics', and is implemented using forward (localisation) and forward and backward (planning) message passing. I propose that this formalism provides a useful computational-level description of aspects of Hippocampal function.","PeriodicalId":117669,"journal":{"name":"2014 4th International Workshop on Cognitive Information Processing (CIP)","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2014-05-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"6","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2014 4th International Workshop on Cognitive Information Processing (CIP)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/CIP.2014.6844499","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 6
Abstract
This paper proposes an algorithm for the solution of the Simultaneous Localisation and Planning problem. The solution is based on statistical inference in a Hidden Markov Model which proceeds in separate phases of localisation and planning. Each requires access to the same contextual model operationalised via the `prior dynamics', and is implemented using forward (localisation) and forward and backward (planning) message passing. I propose that this formalism provides a useful computational-level description of aspects of Hippocampal function.