In this paper, we aim to design decision-making mechanisms for a simulated Khepera robot equipped with simple sensors, which integrates over time its perceptual experience in order to initiate a simple signalling response. Contrary to other previous similar studies, in this work the decision-making is uniquely controlled by the time-dependent structures of the agent controller, which in turn, a...

An evolutionary algorithm for the creation of recurrent network structures is presented. The aim is to develop neural networks controlling the behaviour of miniature robots. Two neuro-modules are created separately using this evolutionary approach. The rst neuro-module gives the agents the ability to move within an environment without colliding with obstacles. The second neuro-module provides t...

This paper addresses the problem of autonomous behaviors of virtual characters. We postulate that a behavior is regarded as autonomous when the actions performed by the agent result from the interaction between its internal dynamics and the environment, rather than being externally controlled. In this work, we argue that an autonomous behavior is an agent’s solution to a given problem, which is...

This paper presents the intelligent wheeled mobile robot motion control in unstructured environments. The fuzzy control of a wheeled mobile robot motion in unstructured environments with obstacles and slopes is proposed. Outputs of the fuzzy controller are the angular speed difference between the left and right wheels of the mobile robot and the mobile robot velocity. The simulation results sho...

Learning affordances can be defined as learning action potentials, i.e., learning that an object exhibiting certain regularities offers the possibility of performing a particular action. We propose a method to endow an agent with the capability of acquiring this knowledge by relating the object invariants with the potentiality of performing an action via interaction episodes with each object. W...

Mobile robots are cyber-physical systems where the cyberspace and the physical world are strongly coupled. Attacks against mobile robots can transcend cyber defenses and escalate into disastrous consequences in the physical world. In this paper, we focus on the detection of active attacks that are capable of directly influencing robot mission operation. Through leveraging physical dynamics of m...

A method for evolving behavior-based robot controllers using genetic programming is presented. Due to their hierarchical nature, genetic programs are useful representing high-level knowledge for robot controllers. One drawback is the difficulty of incorporating sensory inputs. To overcome the gap between symbolic representation and direct sensor values, the elements of the function set in genet...

RALF SALOMON Department of Computer Science, University of Zurich Winterthurerstrasse 190, 8057 Zurich, Switzerland FAX: +41-1-635 68 09; Email: [email protected] ABSTRACT : This paper proposes a new self-organizing control architecture for mobile robots. It consists of a controller and a value system. The controller uses visual sensors to determine the motor commands, whereas the value syst...

Techniques developed in the fields of evolutionary computation, adaptive systems, agents, and artificial neural networks can be used in entertainment robotics in order to provide easy access to the robot technology. We have developed a number of user-guided approaches based on the techniques from these research fields. These techniques include user-guided behaviour-based systems, user-guided ev...

This paper proposes a new self-organizing, biologically-inspired control architecture for mobile robots consisting of a controller and a value system. The controller uses activity patterns of visual sensors to determine the motor commands, whereas the value system receives stimuli from proprioceptive sensors. This design decision is justified by the following arguments: (1) the feedback of prop...