Data based dynamical modeling of vision observed small robots

-Until r e c e n t l y t h e c o n t r o l a n d n a v i g a t i o n o f m o b i l e r o b o t s was m a i n l y p e r f o r m e d b a s e d on e x t e r o c e p t i r e s e n s o r i n g . R e c e n t i n v e s t i g a t i o n on t h e c o o p e r a t i o n of m u l t i p l e r o b o t i c a g e n t s w i t h c e n t r a l i z e d c o n t r o l has u s h e r e d in sma l l a n d less s o p h i s t i c a t e d r o b o t s t h a t a r e o b s e r v e d by a g loba l v i s ion s y s t e m . Th i s p a p e r p r e s e n t s a m o d e l i n g m e t h o d o l o g y t h a t e n a b l e s a c c u r a t e p r e d i c t i o n o f such sma l l r o b o t ' s p o s i t i o n a n d o r i e n t a t i o n f r o m d a t a m e a s u r e d us ing t h e g loba l v i s ion s y s t e m . R e s u l t s o f seve ra l e x p e r i m e n t s show t h a t t h e m o d e l is b o t h a c c u r a t e a n d r o b u s t . A n o t h e r r e l e v a n t a s p e c t o f t h e w o r k is t h e ab i l i ty t o d e t e r m i n e t h e l i m i t a t i o n s l ikely t o be f o u n d in c e n t r a l i z e d c o n t r o l o f a g e n t s w i t h l i t t l e o r no local " in te l l i gence" . Keywords--dynamical model lng~ a u t o r e g r e s s i v e m o d els~ m o b i l e r o b o t s , c o m p u t e r v i s ion