Neural Networks (NN) can be used as controllers in autonomous robots. The specific features of the navigation problem in robotics make the generation of good training sets for the NN very difficult. In this paper an evolution strategy (ES) is introduced to learn the weights of the NN instead of the learning method of the network. The ES is used to learn high-performance reactive behavior for na...

In this paper an evolution strategy (ES) is introduced, to learn reactive behaviour in autonomous robots. An ES is used to learn high-performance reactive behaviour for navigation and collisions avoidance. The learned behaviour is able to solve the problem in a dynamic environment; so, the learning process has proven the ability to obtain generalised behaviours. The robot starts without informa...

In this paper we present the current stage of development of EMMA, a small autonomous robot inspired by the Khepera robot widely distributed in the scientific community. EMMA features a modern microcontroller as the central processing unit (CPU) being very efficient in processing sensor and motor signals and a black–white camera as the main sensory system. The test application of EMMA is autono...

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 ...

A new method for on-line pose estimation in mobile robotics applications is presented in this paper. Using the information provided by the wheel encoders usually is accompanied with additive systematic and nonsystematic errors. Much effort has been done to overcome this problem. In the proposed approach, it is assumed that the robot is making an occupancy grids map of the environment during exp...

Genetic Algorithms (GAs) have demonstrated to be effective procedures for solving multicriterion optimization problems. These algorithms mimic models of natural evolution and have the ability to adaptively search large spaces in near-optimal ways. One direct application of this intelligent technique is in the area of evolutionary robotics, where GAs are typically used for designing behavioral c...

Abstract – This paper presents sensor-based intelligent mobile robot navigation in unknown environments. The paper deals with fuzzy control of autonomous mobile robot motion in an unknown environment with obstacles and gives a wireless sensor-based remote control of mobile robots motion in an unknown environment with obstacles using the Sun SPOT technology. Simulation results show the effective...

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...

The work presents the development of a complex navigational behavior combining some simple fuzzy behaviors for a mobile agricultural robot (MAR). Fuzzy rules are used to compose and coordinate the simple behaviors and an experimental robotic platform based on Khepera mini-robot is proposed to simulate and support the researches on behavior based architecture for agricultural robots. The mini-ro...