Robotarium Experimental Results and Parameters

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Experience Maps

Dead Reckoning

Robotarium

RatSLAM

Robotarium

NeoSLAM

Robotarium

Visual Templates and Experience IDs

RatSLAM

Robotarium

NeoSLAM

Robotarium

Parameter Values

RatSLAM

**Local View Module**
Parameter	Value
`image_crop_x_min`	default
`image_crop_x_max`	default
`image_crop_y_max`	150
`image_crop_y_min`	default
`template_x_size`	60
`template_y_size`	20
`vt_shift_match`	4
`vt_step_match`	1
`vt_match_threshold`	0.03
`vt_normalisation`	default
`vt_patch_normalise`	default
`vt_panoramic`	default

RatSLAM

**Pose Cell Module**
Parameter	Value
`pc_dim_xy`	30
`pc_dim_th`	36
`pc_global_inhib`	0.00002
`pc_cell_x_size`	0.1
`pc_vt_inject_energy`	0.15
`exp_delta_pc_threshold`	2.0
`vt_active_decay`	1.0
`pc_vt_restore`	0.05

**Experience Map Module**
Parameter	Value
`exp_loops`	1
`exp_initial_em_deg`	90.0
`exp_correction`	0.5

NeoSLAM

**Visual Feature Extractor**
Parameter	Value
`use_compressed`	false

**Neocortex Module**
Parameter	Value
`tm_column_dimensions`	2048
`tm_cells_per_column`	32
`tm_activation_threshold`	4
`tm_initial_permanence`	0.55
`tm_connected_permanence`	0.5
`tm_min_threshold`	1
`tm_max_new_synapse_count`	20
`tm_permanence_increment`	0.01
`tm_permanence_decrement`	0.01
`tm_predicted_segment_decrement`	0.0005
`tm_max_segments_per_cell`	100
`tm_max_synapses_per_segment`	100
`tm_seed`	42

NeoSLAM

**Spatial-View Module**
Parameter	Value
`theta_alpha`	384
`theta_rho`	6
`score_interval`	485

**Pose Cell Module**
Parameter	Value
`pc_dim_xy`	30
`pc_dim_th`	36
`pc_cell_x_size`	1
`pc_vt_inject_energy`	0.15
`exp_delta_pc_threshold`	2.0
`vt_active_decay`	1.0
`pc_vt_restore`	0.05

**Experience Map Module**
Parameter	Value
`exp_loops`	1
`exp_initial_em_deg`	90
`exp_correction`	0.5