This paper presents an approach for evolving optimum behaviors for a nonholonomic mobile robot in a class of dynamic environments. A new evolutionary algorithm reflecting some powerful features in the natural evolutionary process to have flexibility to deal with changes in the environment is used to evolve optimum behaviors. Furthermore, a fuzzy set based multi-objective fitness evaluation func...

This project involves the use of two physical sensors and several modular algorithms to generate a single spatial representation of obstacles and free-space surrounding a mobile robot. This representation is used to track obstacles over time. We define a unified architecture that utilized a spatial object representation as the default communication conduit between all modules. This representati...

We present a robot architecture and experiments to investigate some of the roles that pleasure plays in the decision making (action selection) process of an autonomous robot that must survive in its environment. We have conducted three sets of experiments to assess the effect of different types of pleasure-related versus unrelated to the satisfaction of physiological needs-under different envir...

Learning tasks from demonstration is key to the flexibility of robots and their accessibility to non-programmers. We present a task learning framework that combines the strengths of discrete and continuous representations. The robot learns a set of criteria and expectations to represent the goal of a demonstrated task. The task consists of performing actions that fulfill expectations on objects...

We explain how most conventional approaches to the problem of visually guided robot navigation are fundamentally restricted. Starting with a specification of the requirements of a general purpose visually guided robot which includes, robustness, autonomy, flexibility and scalability, we then develop an approach to the solution of map building and path planning which operates within a learning f...

A model-free robust control (MFRC) approach is proposed for position control of robot manipulators in the state space. The control approach is verified analytically to be robust subject to uncertainties including external disturbances, unmodeled dynamics, and parametric uncertainties. There is a high flexibility to work on different systems including actuators by the use of the proposed control...

In the last decade, swarm robotics gathered much attention in the research community. By drawing inspiration from social insects and other self-organising systems, it focuses on large robot groups featuring distributed control, adaptation, high robustness and flexibility. Various reasons lay behind this interest in similar multi-robot systems. Above all, inspiration comes from the observation o...

in this paper, a new approach to modify cable tension measuring mechanism is described; furthermore, the constructed boards which amplify load cell output are introduced. this approach has some advantages including of providing feedback for motors, evaluating the robot’s ultimate load carrying capacity, improving the motor control system and estimating the vibrating deflections of the end effec...

Achieving human-robot cooperation in a telerobotics system is the focus of this paper. The implementation of human-robot systems can be extremely challenging when the robot is not directly controlled by the human. The interaction mode, depending on the task context, can be continuous manual, semi-autonomous or autonomous. To address the Human-Robot Interaction (HRI) issues in such a system, a c...

This paper presents experimental analysis of wheeled mobile robots. Mathematical modelling of the mobile robot is presented. The mobile robots consist of an omni-directional and three differential drive mobile robots are tested and moved in given trajectories and the systematic errors of the robots are determined. A new method for omni-direction mobile robot was introduced in which the robot wa...