Bayesian Learning Experiments with a Khepera Robot

This paper presents a new robotic programming environment based on the probability calculus. We show how reactive behaviours, like obstacle avoidance, contour following, or even light following, can be programmed and learned by the Khepera with our system. We further demonstrate that behaviours can be combined either by programmation or learning. A homing behaviour is thus obtained by combining obstacle avoidance and light following.