Cognitive research shows that emotions guide an organism’s actions and perceptive focus. A similar technique can be used to provide robust control of robot behavior in dynamic, populated environments. We present a biologicallyinspired, emotion-based motivation engine that drives robot behavior selection. In addition, we describe a basic learning technique for adapting motivation response over t...

We introduce an algorithm for visual selection of objects when guided by a physical pointer. This is part of a multimodal instruction given to a robot. Our algorithm is implemented and tested with images gathered by a camera mounted on a mobile robot.

This paper discusses algorithms for simultaneous localization and mapping (SLAM). Advantages of each major type of algorithm, probabilistic and incremental, are presented. Hybrid approaches and their possibilities are discussed. An explanation of a proper algorithm selection method has been provided. The example of an urban search and rescue (USAR) robot is used to show this selection method. T...

This paper describes the AGILO RoboCuppers 1 the RoboCup team of the image understanding group (FG BV) at the Technische Universität München. With a team of four Pioneer I robots, all equipped with CCD camera and a single board computer, we’ve participated in all international middle size league tournaments from 1998 until 2001. We use a modular approach of concurrent subprograms for image proc...

In this paper we demonstrate an eecient method which divides a control task into smaller sub{tasks. We use a Genetic Programming system that rst learns the sub-tasks and then evolves a higher{level action selection strategy for deciding which of the evolved lower{level algorithms should be in control. The Swiss miniature robot Khepera is employed as the experimental platform. Results are presen...

Conventionally, mobile robots are controlled through an action selection mechanism (ASM) that chooses among multiple proposed actions. This choice can be made in a variety of ways, and ASMs have been developed that demonstrate many of them, from strict priority schemes to voting systems. We take a different approach, which we call concurrent control. Abandoning explicit action selection, we rel...

With the evolution in the auspicious field of Human Robot Interaction it is crucial to work for the Robust Action Selection on a robot’s end especially when the human exhibits an unknown behaviour. A particular human action may lead to more than one human behaviour(s) and when it comes to a robot as an assistant or a co-worker it is of vital concern to have some efficient method to select a sui...

In order to further improve the ability of global path planning of coal mine rescue robot in the complex environment, a bacterial foraging algorithm-based polyclonal selection algorithm (BFA-PSA) is proposed. In order to verify the superiority of the BFA-PSA, the proposed algorithm is tested by traveling salesman problem (TSP) and compared with genetic algorithm (GA) and clonal selection algori...