This article presents an experiment which investigates how collaboration in a group of simple reactive robots can be obtained through the exploitation of local interactions. A test-bed experiment is proposed in which the task of the robots is to pull sticks out of the ground —an action which requires the collaboration of two robots to be successful. The experiment is implemented in a physical s...

Many researchers from academia and industry are attracted to investigate how to design and develop robust versatile multi-robot systems by solving a number of challenging and complex problems such as task allocation, group formation, self-organization and much more. In this study, the problem of multi-robot task allocation (MRTA) is tackled. MRTA is the problem of optimally allocating a set of ...

This paper presents an optimization of POSIT (Pose from Orthographic and Scaling with Iterations), a model-based camera location algorithm, in the domain of indoor mobile robot navigation. The method finds the rotation matrix and the translation vector of the camera with respect to an object. The novelty of the proposed modified algorithm is that it does not need the perfect knowledge of camera...

AbSTRACT This work is intended to give an overview of technologies, developed from an artificial intelligence standpoint, devised to face the different planning and control problems involved in trajectory generation for mobile robots. The purpose of this analysis is to give a current context to present the Evolutionary Robotics approach to the problem, which is now being considered as a feasibl...

The utilization of a multi-objective approach for evolving artificial neural networks that act as the controllers for phototaxis and radio frequency (RF) localization behaviors of a virtual Khepera robot simulated in a 3D, physics-based environment is discussed in this chapter. It explains the comparison performances among the elitism without archive and elitism with archive used in the evoluti...

This paper describes the saliency-based scene memory model of a mobile robot in which objects in salient spots are quickly learned and recognized based on the competitively growing neural network using temporal coding. This neural network represents objects using latency-based temporal coding and grows size and recognizability through self-organized learning with growth. In this model, objects ...

In this paper, we study the online path planning for khepera II mobile robot in an unknown environment. The well known heuristic A* algorithm is implemented to make the mobile robot navigate through static obstacles and find the shortest path from an initial position to a target position by avoiding the obstacles. The proposed path finding strategy is designed in a grid-map form of an unknown e...

Behavioral robustness at antibody and immune network levels is discussed. The robustness of the immune response that drives an autonomous mobile robot is examined with computational experiments in the trajectory generation context in unknown environments. The immune response is met based on the immune network metaphor for different low-level behaviors coordination. These behaviors are activated...

This paper describes the implementation of two biologically inspired collective behaviours on a group of Khepera miniature mobile robots. The rst experiment is concerned with the gathering and clustering of randomly distributed small cylinders. In the second experiment the group of robots are expected to remove long sticks from holes, requiring a synchronous collaboration between two robots. Th...