(/? is the birth modulus), that there is no diffusion through the boundary dQ of Q, that is: d A k(a, cc)u(t, a, x) doc = 0 (3) o 8*1 Jc where d/dr] is the normal derivative, and that the initial population is known: w(0, a, x) = u0(a, x). (4) A is the maximum life expectancy of the species. The initial boundary value problem (1)—(4) will be referred to as problem (I), namely (subscripts indica...

CIIPS Glory is using a local intelligence approach to solve the task of robot soccer. In this respect our system is much closer to the F-2000 league (mid-size) than other approaches in the F180 (small-size) league. We are using EyeBot controllers, the RoBIOS operating system and the EyeCam digital onboard camera systems (CMOS). Our robot family also comprises 6-legged and biped walking machines...

Spatial directional relations, like "north of," play an important role in the modeling of the environment by an autonomous robot. We propose an approach to represent spatial relations grounded in fuzzy set theory and fuzzy mathematical morphology. We show how this approach can be applied to robot maps, and suggest that these relations can be used for self-localization and for reasoning about th...

In this paper, we describe the vision system for the DeWaLoP (Developing Water Loss Prevention) robot. The robot working environment is inside a pipe (a cylinder), which fits perfectly to the vision system, based on omni-directional cameras. By unrolling the omni-directional camera image to a panoramic image, the circular features of the pipe become linear and by adding a line tracking algorith...

In this paper, modeling and nonlinear controller design for an omni-directional mobile robot are presented. Based on the robot dynamics model, a nonlinear controller is designed using the Trajectory Linearization Control (TLC) method. Some simulation results of the controller are presented.

Dynamic modelling of mobile robots is very important to design of controllers, mainly when the robots need to travel at higher velocity and perform heavy works. For example, in (Liu et al., 2003) and (Watanabe, 1998), control strategies for omnidirectional robots using the dynamic model are discussed. However, non-linearities, like motor dynamic constraints can greatly affect the robot behaviou...

In order to transport materials flexibly and smoothly in a tight plant environment, an omni-directional mobile robot based on four Mecanum wheels was designed. The mechanical system of the mobile robot is made up of three separable layers so as to simplify its combination and reorganization. Each modularized wheel was installed on a vertical suspension mechanism, which ensures the moving stabil...