This paper describes the testing tool ”ExmoR” that allows the user to experiment with different control algorithms as map building and a routine to explore the environment. The intention is to give the user the possibility of easy testing the various control algorithms for the Khepera robot without any knowledge about the robot language, the control architecture or other robot details.

We propose to study the efficiency of our mobile robot control architecture — the so-called "trend" architecture, derived from Brooks' subsumption architecture — applied to the locomotion of a group of miniature Khepera robots. In our experimental setup, each robot is equipped with a sophisticated auditory system, allowing it to communicate its position to its near neighbours by means of short ...

In this paper we describe a neural network for reactive and adaptive robot navigation. The network is based on a model of classical and operant conditioning first proposed by Grossberg [3]. The network has been successfully implemented on the real Khepera robot. This work shows the potential of applying self-organizing neural networks to the area of intelligent robotics.

We implemented variations on the Self-Organizing Distinctive State Abstraction model for robot state-discretization and task-learning in a Khepera robot. We conclude that hill-climbing as implementd in [5] is detrimental in embodied robots. Because the ultimate goal of developmental systems is intelligent, embodied robots, we believe that implementation in physical robots is an important test o...

In this paper, we compare the performance of hierarchical GP methods (Automatically Defined Functions, Module Acquisition, Adaptive Representation through Learning) with the canonical GP Implementation and with a linear genome GP system in the domain of evolving robotic controllers for a simulated Khepera miniature robot. We successfully evolve robotic controllers to accomplish obstacle avoidan...

the present work describes the studies on the coordination behaviour of 4[n-(benzalidene) amino]antipyrine semicarbazone (baaps) (i), 4[n-(furfural)amino]antipyrine semicarbazone (ffaaps) (ii) and 4[n-(cinnamalidene)amino]antipyrine semicarbazone (caaps) (iii) in presence of dimethyl sulfoxide (dmso) or diphenyl sulfoxide (dpso) towards th4+ and uo22+ salts. all the complexes were isolated in n...

In this paper anewbehavior-basedapproach for the control of autonomous robotic systems is proposed. The so-called null-space-based behavioral (NSB) control differs from the other existing methods in the behavioral coordination, i.e., in the way the outputs of the single elementary behaviors are combined to compose a complex behavior. The proposed approach is compared with the main existing appr...

Formerly I presented a metric navigation method in the Webots mobile robot simulator. The navigating Khepera-like robot builds an occupancy grid of the environment and explores the square-shaped room around with a value iteration algorithm. Now I created a topological navigation procedure based on the occupancy grid process. The extension by a skeletonization algorithm results a graph of import...

This paper describes the implementation and modelling of a biologically inspired collective behaviour. The experiments are concerned with the gathering and clustering of randomly distributed small cylinders. Each experiment has been repeated ten times in a simulated environment (parametric simulation) and carried out five times with a group of ten Khepera miniature mobile robots. The simulated ...