Figure 12.

Braitenberg vehicle experiment. The control model (A) uses a color detection robot to neuron transfer function to convert the image into spike rates, a simple spiking neural network comprising 8 neurons and a neuron to robot transfer function that translates membrane potentials into motor commands. The motor signals sent to the robot wheels are directly correlated with the red pixels’ percentage in the camera image (B). This is also reflected by the changes in brain activity during the trial (C).