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·116· 智能系统学报 第13卷 YU Ping,XU Hui,YIN Wenjuan,et al.The roles of grid HU Bo,SUI Jianfeng.Advance of mechanisms of spatial cells in spatial memory[J].Advances in psychological sci- processing for hippocampal place cells[J].Chinese journal ence,2009,17(6):1228-1233. of neuromedicine,2005,4(4):416-418. [6]KROPFF E,CARMICHAEL J E,MOSER M B,et al. 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A coupled attractor model of the rodent head direction system[J]. Network: computation in neural systems, 1997, 7(4): 671–685. [23] SAMSONOVICH A, MCNAUGHTON B L. Path integration and cognitive mapping in a continuous attractor neural network model[J]. Journal of neuroscience: the official journal of the society for neuroscience, 1997, 17(15): 5900– 5920. [24] STRINGER S M, ROLLS E T, TRAPPENBERG T P, et al. Self-organizing continuous attractor networks and path integration: two-dimensional models of place cells[J]. Network: computation in neural systems, 2002, 13(4): 429– 446. [25] MILFORD M J, WYETH G F, PRASSER D. RatSLAM: a hippocampal model for simultaneous localization and mapping[C]//Proceedings of 2004 IEEE International Conference on Robotics and Automation. New Orleans, LA, USA, 2004: 403–408. [26] MILFORD M, WYETH G. Persistent navigation and mapping using a biologically inspired SLAM system[J]. International journal of robotics research, 2009, 29(9): 1131– 1153. [27] PRASSER D P, WYETH G, MILFORD M. Experiments in outdoor operation of RatSLAM[C]//Proceedings of 2004 [28] ·116· 智 能 系 统 学 报 第 13 卷