In this paper we present some preliminary results on the idea of using a model-free execution monitor on a mobile robot. By model-free monitoring we mean that the monitoring is based only on the actual execution, without involving any predictive models of the controlled system. In this, our approach is different from most previous work on execution monitoring. We analyze the activation levels o...

In this work we propose an enhanced model for mapping from sonar sensors and odometry that allows a robot to represent an environment map in a more suitable way to both the sonar sensory data and odometry system of the robot. We use a stochastic modelling of the errors that brings up reliable information. As a contribution, we obtain a final map that is more coherent with the reality of the ori...

Technologies of Rapid Prototyping (RP) represents the rapid production of 3D physical parts using by additive manufacturing technology. The start these techniques became available in the late 1980s and were used to produce 3D models and prototype parts. Today they are used for a much wider range of applications and are even used to manufacture production-quality parts in relatively small number...

Seven different Radial Basis Functions have been applied in a Feedforward Neural Network and tested on five different real or simulated multivariate modelling problems. A short theory of Radial Basis Functions is presented as well as the particular implementation of the Radial Basis Function Network (RBFN). The real world data modelling problems are; identifying the dynamic actuator characteris...

My research is on proactiveness in robots. By the term proactive I understand a robot that is able to generate and select among its own goals and pursue activities towards their achievement. Consider the following example: Anna, who owns a personal robot, has instructions from her physician to take pills daily at meal times. Not taking the pills can result in Anna being unwell. Throughout the d...

Modeling of products is undergone a final stage of integration in these years. In this paper, the authors discuss an integrated modeling method for robot assembly of products as a contribution to methodology for integrated robot model systems. Advanced product modeling uses feature and associativity definitions for description of engineering related objects in part models instead of simple geom...

this article presents an implementation of a reinforcement learning (rl) method for a snake like robot navigation. the paper starts with developing kinematics and dynamics model of a snake robot in serpentine locomotion followed by performing simulation and finishes with actual experimentation. first, gibbs-appell's method is used to obtain the robot dynamics. the robot is also modeled in simme...

The objective of this project is to investigate the possibility of a robot learning a model for functional spatial relations through interaction with its environment. As a proof of concept I examine the two relations “location control” and “support” between pairs of objects, relations which are integral components of the spatial preposition “on”. A simulated environment with a model of a robot ...

In human-robot teaming, one of the crucial keys for team’s success is that robot and human teammates can collaborate accordingly in a coordinated manner. Each teammate should be aware what other going to perform likely need. this context, expected understand intention performance explain its actions decisions rationale teammate. addition, capability model expectation empowers with understandabl...

Over the last five years, and while developing an architecture for autonomous service robots in human environments, we have identified several key decisional issues that are to be tackled for a cognitive robot to share space and tasks with a human. We introduce some of them here: situation assessment and mutual modelling, management and exploitation of each agent (human and robot) knowledge in ...