We have recently shown that a neural network model of classical and operant conditioning can be trained to control the movements of a wheeled mobile robot. The neural network learns to avoid obstacles as the robot moves around without supervision in a cluttered environment. The neural network does not require any knowledge about the quality or configuration of the sensors. In this article we re...

We report students' experiments with a small mobile robot, Khepera, developed at the Mi-crocomputing Laboratory of Swiss Federal Institute of Technology (LAMI{EPFL). Khepera makes teaching of programming languages and control theory easier and more compelling for students. In the experiments reported in this paper, students learn to write programs by designing control algorithms for the mobile ...

This paper presents a model-based control design for trajectory tracking of two-wheeled mobile robots based on Linear Quadratic Regulator (LQR) optimal control. The model proposed in this article has been implemented on a computational model which is obtained from kinematic and dynamic relations of KHEPERA IV. The purpose of control is to track a predefined reference trajectory with the best po...

We have developed a neuro-robot-hybrid system using a living neuronal network and a miniature moving robot. The living network of rat hippocampal neurons can distinguish patterns of action potentials evoked by different inputs, suggesting that a cultured neuronal network can represent particular states as symbols. We used a Khepera II robot and a robot made using a LEGO mindstorm NXT kit to int...

The goal of this work is to compare fuzzy, neural network and neuro-fuzzy approaches to the control of mobile robots. The rst part of this paper is devoted to the formal framework of fuzzy controllers. Results of an example of their use for a mobile robot are discussed. As an experimental platform, the Khepera mobile robot is used. The same example is studied using artiicial neural networks. Fo...

1 Problem description As an interesting application we present the task of playing golf with the Khepera. Several challenging have to be fulfilled to perform the complex behaviour needed. Our special focus of realization lies on: building a map, localization within the map, hitting the ball and local reactive path planning using neural network approaches. The golf playing Khepera with the attac...

This short paper explains how the Khepera robot was developed, from the initial idea to the its commercialisation by K-Team. The goal of this paper is not a scientific analysis but an historical overview of the steps made in the development of this robot since 1991. The papers introduces first the situation of the team who started the development, then decisions made in creating the actual Khep...

This paper describes a vision-based system for the autonomous positioning of a mobile robot. Both the pose estimation method and the robot control system are presented. The former finds the position and attitude of the camera mounted on the robot with respect to a known 3D target using a single image. The method uses geometric considerations which combine perspective projection and scaled ortho...

This paper presents a new robotic programming environment based on the probability calculus. We show how reactive behaviours, like obstacle avoidance, contour following, or even light following, can be programmed and learned by the Khepera with our system. We further demonstrate that behaviours can be combined either by programmation or learning. A homing behaviour is thus obtained by combining...