Original scientific paper The problem of a robot to create a map of an unknown environment while correcting its own position based on the same map and sensor data is called Simultaneous Localization and Mapping problem. As the accuracy and precision of the sensors have an important role in this problem, most of the proposed systems include the usage of high cost laser range sensors, and relativ...

The use of automated action planning techniques is essential for efficient mission execution of mobile robots. However, a tremendous effort is needed to represent planning problem domains realistically to meet the real-world constraints. Therefore, there is another source of uncertainty for mobile robot systems due to the impossibility of perfectly representing action representations (e.g., pre...

A computer model of learning and representing spatial locations is studied. The model builds on biological constraints and assumptions drawn from the anatomy and physiology of the hippocampal formation of the rat. The emphasis of the presented research is on the usability of a computer model originally proposed to describe episodic memory capabilities of the hippocampus in a spatial task. In th...

This paper presents an experiment in collective robotics in which a group of autonomous robots searches for an infrared target beacon placed in a corner of the exploration area. This task is a more experimentally tractable version of the plume tracing problem, in which robots search for the source of an odor plume. Two di erent exploration strategies (collaborative and non-collaborative) are im...

Autonomous mobile robots have become a very popular and interesting topic in the last decade. Each of them are equipped with various types of sensors such as GPS, camera, infrared and ultrasonic sensors. These sensors are used to observe the surrounding environment. However, these sensors sometimes fail and have inaccurate readings. Therefore, the integration of sensor fusion will help to solve...

We compare the effects of linear and piecewise linear compliant spines on locomotion performance of quadruped robots in terms of energy efficiency and locomotion speed through a set of simulations and experiments. We first present a simple locomotion system that behaviorally resembles a bounding quadruped with flexible spine. Then, we show that robots with linear compliant spines have higher lo...

Multi-robot task allocation (MRTA) is an important area of research in autonomous multi-robot systems. The main problem in MRTA is to allocate a set of tasks to a set of robots so that the tasks can be completed by the robots while ensuring that a certain metric, such as the time required to complete all tasks, or the distance traveled, or the energy expended by the robots is reduced. We consid...

Robot path-planning is one of the important issues in robotic navigation. This paper presents a novel robot path-planning approach based on the associative memory using Self-Organizing Incremental Neural Networks (SOINN). By the proposed method, an environment is first autonomously divided into a set of path-fragments by junctions. Each fragment is represented by a sequence of preliminarily gen...

In certain environments like condominium complexes, couriers are only allowed to drop off their payloads at designated drop-off stations instead of delivering it directly the recipient. These regulations have become increasingly popular in condominiums during Covid-19 pandemic, part due government SOPs encouraging adoption. A partially automated delivery system using robot that deliver from rec...

In our prior work, we outlined an approach, named DisCoF, for cooperative pathfinding in distributed systems with limited sensing and communication range. Contrasting to prior works on cooperative pathfinding with completeness guarantees which assume access to global communication and coordination, DisCoF does not make this assumption. The implication is that at any given time in DisCoF, the ro...