The Dynamical Nightwatch's Problem Solved by the Autonomous Micro-Robot Khepera
نویسندگان
چکیده
In this paper, we present the implementation, both in a simulator and in a real-robot version, of an efficient solution to the so-called dynamical nightwatch’s problem on the micro-robot Khepera. The problem consists mainly in exploring a previously unknown environment while detecting, registering and recognizing light sources which may dynamically be turned on and off. At the end of each round a report is requested from the robot. Therein we made use of an agent-based approach and applied a self-organizing feature map in order to refine some of the behaviour generating control-modules.
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