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...

The Khepera system is a toolkit for the rapid implementation and long-term maintenance of domain speci c languages (DSLs). Our viewpoint is that DSLs are most easily implemented via source-tosource translation from the DSL into another language and that this translation should be based on simple parsing, sophisticated tree-based analysis and manipulation, and source generation using prettyprint...

Abstract. We propose an original method for programming robots based on bayesian inference and learning. This method formally deals with problems of uncertainty and incomplete information that are inherent to the field. Indeed, the principal difficulties of robot programming comes from the unavoidable incompleteness of the models used. We present the formalism for describing a robotic task as w...

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...

Navigation and obstacle avoidance in an unknown environment is proposed in this paper using hybrid neural network with fuzzy logic controller. The overall system is termed as Adaptive Neuro Fuzzy Inference System (ANFIS). ANFIS combines the benefits of fuzzy logic and neural networks for the purpose of achieving robotic navigation task. Simulation results are presented using Khepera Simulator (...

The Khepera system is a toolkit for the rapid implementation and long-term maintenance of domain speciic languages (DSLs). Our viewpoint is that DSLs are most easily implemented via source-to-source translation from the DSL into another language and that this translation should be based on simple parsing, sophisticated tree-based analysis and manipulation, and source generation using pretty-pri...

The Khepera system is a toolkit for the rapid implementation and long-term maintenance of domain speci c languages (DSLs). Our viewpoint is that DSLs are most easily implemented via source-tosource translation from the DSL into another language and that this translation should be based on simple parsing, sophisticated tree-based analysis and manipulation, and source generation using prettyprint...

This paper is concerned with the improvement of reinforcement learning through the use of forbidden sequences of actions. A given reinforcement function can generate multiple effective behaviors. Each behavior is effective only considering the cumulative reward over time. It may not be the behavior expected by the designer. In this case, the usual solution is to modified the reinforcement funct...

This paper describes the implementation and modelling of a biologically inspired collective behaviour. The experiments are concerned with the gathering and clustering of randomly distributed small cylinders. Each experiment has been repeated ten times in a simulated environment (parametric simulation) and carried out five times with a group of ten Khepera miniature mobile robots. The simulated ...

This paper describes the implementation and modelling of a biologically-inspired collective behaviour. The experiments are concerned with the gathering and clustering of randomly distributed small cylinders. Each experiment has been repeated ve times and carried out in a simulated environment (parametric simulation) and with a group of ten Khepera miniature mobile robots. The simulated and expe...