The Khepera system is a toolkit for the rapid implementation and long-term maintenance of domain speci c languages (DSLs). Our viewpoint is that DSLs are most easily implemented via source-tosource translation from the DSL into another language and that this translation should be based on simple parsing, sophisticated tree-based analysis and manipulation, and source generation using prettyprint...

The Khepera system is a toolkit for the rapid implementation and long-term maintenance of domain speciic languages (DSLs). Our viewpoint is that DSLs are most easily implemented via source-to-source translation from the DSL into another language and that this translation should be based on simple parsing, sophisticated tree-based analysis and manipulation, and source generation using pretty-pri...

The Khepera system is a toolkit for the rapid implementation and long-term maintenance of domain speci c languages (DSLs). Our viewpoint is that DSLs are most easily implemented via source-tosource translation from the DSL into another language and that this translation should be based on simple parsing, sophisticated tree-based analysis and manipulation, and source generation using prettyprint...

Abstract This research focuses on the performance of obstacle avoidance feature implemented a wheeled mobile robot by using Sugeno Fuzzy Inference System (FIS). The test was done simulation software Webots and layout first draft out walls, floors, objects in order to set boundary obstacles for simulation. To effectiveness efficiency terms time distance, trajectory Khepera implementing FIS recor...

We report students' experiments with a small mobile robot, Khepera, developed at the Mi-crocomputing Laboratory of Swiss Federal Institute of Technology (LAMI{EPFL). Khepera makes teaching of programming languages and control theory easier and more compelling for students. In the experiments reported in this paper, students learn to write programs by designing control algorithms for the mobile ...

Mobile robots offer a typical example of systems with nonholonomic constraints. Several controllers have been proposed in the literature for stabilizing these systems. However, few experimental studies have been reported comparing the characteristics and the performance of these controllers with respect to neglected dynamics, quantization, noise, delays, etc. In this paper, we use a Khepera mob...

The purpose of this chapter is to introduce gently the basics concepts of Bayesian Programming. After a short formal introduction of Bayesian Programming, we present these concepts using three simple experiments with the mini mobile robot Khepera. These three instances have been selected among the numerous experiments done with this robots for their simplicity and didactic quality. A more exten...

This article describes an integrated environment developed for the evaluation of localization and navigation algorithms for mobile robots. The integrated environment, named KITE, superimposes spatial information obtained from the robot and its sensors, upon an overhead view of the robot’s environment. Using the overhead view as the common coordinate system, KITE creates an ideal test-bed in whi...

This paper presents a new robotic programming environment based on the probability calculus. We show how reactive behaviours, like obstacle avoidance, contour following, or even light following, can be programmed and learned by the Khepera with our system. We further demonstrate that behaviours can be combined either by programmation or learning. A homing behaviour is thus obtained by combining...