The problem of defining robot behaviors to completely address a large and complex set of situations is very challenging. We present an approach for robot?s action selection in the robot soccer domain using Case-Based Reasoning techniques. A case represents a snapshot of the game at time t and the actions the robot should perform in that situation. We basically focus our work on the retrieval an...

This paper deals with the problem of humanoid robot localization and proposes a new method for position estimation that has been developed for the RoboCup Standard Platform League environment. Firstly, a complete vision system has been implemented in the Nao robot platform that enables the detection of relevant field markers. The detection of field markers provides some estimation of distances ...

In landmark-based navigation systems for mobile robots, sensory perceptions (e.g., laser or sonar scans) are used to identify the robot’s current location or to construct internal representations, maps, of the robot’s environment. Being based on an external frame of reference (which is not subject to incorrigible drift errors such as those occurring in odometry-based systems), landmark-based ro...

Robots with vastly different capabilities and specifications are available for a wide range of applications. Selection of a robot from among the large number available in the market to suit a particular application and production environment has become a difficult task. Many methods for robot selection have been developed to date. Keeping in view the research works on industrial robot selection...

In general, a mobile robot that operates in unknown environments has to maintain a map and has to determine its own location given the map. This introduces significant computational and memory constraints for most autonomous systems, especially for lightweight robots such as humanoids or flying vehicles. In this paper, we present a universal approach for learning a landmark selection policy tha...

This paper aims to discuss the requirements of safe and smooth trajectory planning of transporter mobile robots to perform non-prehensile object manipulation task. In non-prehensile approach, the robot and the object must keep their grasp-less contact during manipulation task. To this end, dynamic grasp concept is employed for a box manipulation task and corresponding conditions are obtained an...

We consider the following problem: given a simple polygon P and a star-shaped polygon V, nd a point (or the set of points) in P from which the portion of P that is visible is translation-congruent to V. The problem arises in the localization of robots equipped with a range-nder and a compass | P is a map of a known environment, V is the portion visible from the robot's position, and the robot m...

This paper evaluates a path selection algorithm for mobile robots in large dynamic environments. The aim of the work is to reduce the risk of collisions and time of path following in cases when the robot repeatedly traverses between predefined target points (e.g. fot transportation or inspection tasks). The algorithm is usable even if very little is known about the environment or if it gets com...

mobile robot navigation is one of the basic problems in robotics. in this paper, a new approachis proposed for autonomous mobile robot navigation in an unknown environment. the proposedapproach is based on learning virtual parallel paths that propel the mobile robot toward the trackusing a multi-layer, feed-forward neural network. for training, a human operator navigates themobile robot in some...