Multiple self-organizing maps for a visuo-motor system that uses multiple cameras with different fields of view

This article proposes multiple self-organizing maps (SOMs) for control of a visuo-motor system that consists of a redundant manipulator and multiple cameras in an unstructured environment. The maps control the manipulator so that it reaches its end-effector at targets given in the camera images. The maps also make the manipulator take obstacle-free poses. Multiple cameras are introduced to avoid occlusions, and multiple SOMs are introduced to deal with multiple camera images. Some simulation results are shown.