Extending RatSLAM Toward A Multi-Scale Model of Grid Cells

A recent discovery has found that rats used multiple discretized grid cells modules rather than a single module to map the environment. This study extended the existing single scale Ratslam model (a rodent inspired simultaneous localization and mapping algorithm) to multi-scale Ratslam model and evaluated its performance benefits by simulated dataset and real world dataset. Results showed that the new multi-scale model can produce topographically sensible map with much less storage cost than the single scale model.