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@INPROCEEDINGS{Schoepe:1022172,
      author       = {Schoepe, Thorben and Chicca, Elisabetta},
      title        = {{F}inding the {G}oal: {I}nsect-{I}nspired {S}piking
                      {N}eural {N}etwork for {H}eading {E}rror {E}stimation},
      publisher    = {IEEE},
      reportid     = {FZJ-2024-01293},
      pages        = {4727-4733},
      year         = {2023},
      abstract     = {Insects have extraordinary navigational abilities.Monarch
                      butterflies migrate every year to the same forestover
                      hundreds of kilometers, desert ants find their way backto
                      the nest tens of meters away and dung beetles maintainthe
                      same heading direction over meters. The performance ofthese
                      agents has been optimized by evolution over the last500
                      million years leading to power-efficient, low-latency
                      andprecise sensorimotor systems. Research efforts in the
                      fieldof neuroscience, biology and robotics are instrumental
                      foruncovering the neural substrate of insect navigation
                      abilities.The development of models of insect navigation
                      tightly coupledwith the insect connectome and
                      neurophysiology and theirembedding in closed loop systems
                      support the understanding ofembodied animal cognition and
                      can advance robotic systems.In this work, we focus on insect
                      navigation because of theefficient insect navigational
                      apparatus. Furthermore, the recentdiscovery of the central
                      complex, the neuronal center of insectnavigation,
                      facilitates the development of new hypotheses aboutinsect
                      navigation. All navigating insects need to perform somekind
                      of goal-directed behavior during which they have toreach a
                      specific goal location or maintain the same
                      movementdirection over long distances. Such behavior
                      requires theagent to be aware of its current heading
                      direction, desiredheading direction, and the error between
                      them. Building onprevious research in the field, we propose
                      a novel model forthis error estimation that can in principle
                      be generalized forall navigating insect species. We
                      implement the model in aspiking neural network and test its
                      capabilities on a simulatedrobotic platform. The precision
                      of the network is comparableto or even better than the
                      biological role model. Thus, ourimplementation serves as a
                      working hypothesis for how theheading error might be
                      computed in the insect brain. Our modelwill help to explain
                      navigational behavior in fruit flies, orchidbees, bumble
                      bees and some less researched insect species.Furthermore,
                      its simplicity in comparison to other models
                      andimplementation in a spiking neural network makes it
                      verysuitable for neuromorphic systems, an emerging field of
                      braininspired hardware.},
      month         = {Oct},
      date          = {2023-10-01},
      organization  = {2023 IEEE/RSJ International Conference
                       on Intelligent Robots and Systems
                       (IROS), Detroit (MI), 1 Oct 2023 - 5
                       Oct 2023},
      cin          = {PGI-15},
      cid          = {I:(DE-Juel1)PGI-15-20210701},
      pnm          = {5234 - Emerging NC Architectures (POF4-523)},
      pid          = {G:(DE-HGF)POF4-5234},
      typ          = {PUB:(DE-HGF)8},
      UT           = {WOS:001133658803087},
      doi          = {10.1109/IROS55552.2023.10342210},
      url          = {https://juser.fz-juelich.de/record/1022172},
}