During the years 2005 and 2006 a robot system has been developed at Lund University Cognitive Science to run navigation experiments in a dynamic environment. The main aim of the system is to study anticipation during navigation, model building, color tracking, navigation algorithms, social robotics and children’s games. This technical report describes the hardware and software used in the syste...

Although the wheeled locomotion proved to be very efficient on smooth grounds, it still encounters great difficulties in natural environments, where the ground is subject to wide variations in term of geometry (irregular surface, presence of obstacles...) and material properties (cohesion, grip condition...). This chapter presents recent developments and original systems that improve the capaci...

In this study, we work with a heterogeneous swarm of wheeled and aerial robots. We present a selforganised approach inspired by the aggregation behaviour of cockroaches that allows each aerial robot to form a dedicated group of wheeled robots of a particular size. Our approach is based on simple probabilistic rules, but still proves robust and flexible. Different groups can be formed in paralle...

A coordinated control framework for multiagent systems using sliding mode control approach was developed in (Ghasemi and Nersesov, 2013). The framework addresses a general class of underactuated agents and presents a specialization to the agents represented by wheeled mobile robots. In this paper, we extend the results of (Ghasemi and Nersesov, 2013) to incorporate the obstacle/collision avoida...

Autonomous and teleo erated mobile robots require an ccurate knowledge of their spatial location in order to accomplish many tasks. Many mobile robots make use of dead reckoning navigation because of its simplicity, low cost and robustness. Although dead reckoning navigation has been used for centuries for ships and wheeled vehicles, the application to a walking machine is novel. Since walking ...

In this work, we consider a group of differential-wheeled robots endowed with noisy relative positioning capabilities. We develop a decentralized approach based on a receding horizon controller to generate, in real-time, trajectories that guarantee the convergence of our robots to a common location (i.e. rendezvous). Our receding horizon controller is tailored around two numerical optimization ...

For their inherent stability and simple dynamics of motion, wheeled robots are very common in robotics applications. Many highly complex robots are being developed in research laboratories, but wheeled robots remain the most used robot in real-world situations. One of the most significant downfalls of wheeled robots is their inability to navigate over large obstacles or steps without assistance...