This paper presents an emotion based process generating cognition through learning. Two models are described which investigates the possibilities of designing cognitive systems based on emotion. In order to test these models through experiments, we used a mobile robot simulator, Webots, modeling the real Khepera robot. The rst proposed model is the simplest since it uses only positive and negat...

Behavior-based artificial intelligent system is to derive the complicated behaviors by selecting appropriate one from a set of basic behaviors. Many robot systems have used behavior-based systems since the 1980’s. In this paper, we propose new method to create the sequences of behaviors appropriate to the changing environments by adding the function of learning with Learning Classifier System t...

|Behavior-based approach has been successfully applied to design the control system of a robot. This paper presents our approach, based on evolutionary algorithms , to program behavior-based robots automatically. Instead of handcoding all the behavior controllers or evolving an entire control system for an overall task, we suggest our approach at the intermediate level: it includes evolving beh...

Neural Networks (NN) can be used as controllers in autonomous robots. The specific features of the navigation problem in robotics make the generation of good training sets for the NN very difficult. In this paper an evolution strategy (ES) is introduced to learn the weights of the NN instead of the learning method of the network. The ES is used to learn high-performance reactive behavior for na...

In this paper an evolution strategy (ES) is introduced, to learn reactive behaviour in autonomous robots. An ES is used to learn high-performance reactive behaviour for navigation and collisions avoidance. The learned behaviour is able to solve the problem in a dynamic environment; so, the learning process has proven the ability to obtain generalised behaviours. The robot starts without informa...

In this paper we present the current stage of development of EMMA, a small autonomous robot inspired by the Khepera robot widely distributed in the scientific community. EMMA features a modern microcontroller as the central processing unit (CPU) being very efficient in processing sensor and motor signals and a black–white camera as the main sensory system. The test application of EMMA is autono...

Many researchers from academia and industry are attracted to investigate how to design and develop robust versatile multi-robot systems by solving a number of challenging and complex problems such as task allocation, group formation, self-organization and much more. In this study, the problem of multi-robot task allocation (MRTA) is tackled. MRTA is the problem of optimally allocating a set of ...

A new method for on-line pose estimation in mobile robotics applications is presented in this paper. Using the information provided by the wheel encoders usually is accompanied with additive systematic and nonsystematic errors. Much effort has been done to overcome this problem. In the proposed approach, it is assumed that the robot is making an occupancy grids map of the environment during exp...

Genetic Algorithms (GAs) have demonstrated to be effective procedures for solving multicriterion optimization problems. These algorithms mimic models of natural evolution and have the ability to adaptively search large spaces in near-optimal ways. One direct application of this intelligent technique is in the area of evolutionary robotics, where GAs are typically used for designing behavioral c...

In this paper, we study the path planning for khepera II mobile robot in an unknown environment. The well known heuristic D* lite algorithm is implemented to make the mobile robot navigate through static obstacles and find the shortest path from an initial position to a target position by avoiding the obstacles. and to perform efficient re-planning during exploration. The proposed path finding ...