Formerly I presented a metric navigation method in the Webots mobile robot simulator. The navigating Khepera-like robot builds an occupancy grid of the environment and explores the square-shaped room around with a value iteration algorithm. Now I created a topological navigation procedure based on the occupancy grid process. The extension by a skeletonization algorithm results a graph of import...

This paper presents a particle swarm optimization (PSO)-inspired multi-robot search application based on an innovative software system for collaborative robotic applications. The system has a multi-layer architecture which provides lowand high-level interfaces to the robots, resource (robots) management, security policies and concurrent robot access. The main result is the successful testing of...

The paper describes development and experimental implementation of a visual control for the miniature laboratory robot Khepera. The robot and its stationary environment are observed by a static CCD camera, a collision free path in the two dimensional workspace is determined by artificial potential field methods and it is realized using real-time visual feedback. Computations are performed on T9...

This paper describes a wireless network based control of a Khepera mobile robot moving in a distributed infrastructure. Due to critical dependence on wireless communication, a procedure for reconfiguration of the network is proposed as a possibility to maintain communication between control station and the mobile robot in a successful manner. The network handoff is made under a criterion that t...

and real-world implementations of robots that adapt to their environments. In this article, I introduce adaptive environmentics—the flip side of adaptive robotics—in which the environment adapts to the robot. To illustrate the approach, I offer three simple experiments in which a genetic algorithm is used to shape an environment for a simulated KHEPERA robot. I then discuss at length the potent...

Computational models of cognitive processes based on neural substrates clarify our understanding of the ongoing mechanisms during these high order processes. These models also inspire new approaches and techniques for implementing intelligent systems. Here, an implementation of goal-directed behaviour on Khepera II mobile robot will be presented. The main point of this work is to show the poten...

In this paper we develop two time-invariant control laws for a unicycle-type mobile robot. A mobile robot of this type is an example of a system with a nonholonomic constraint. Similarly to the majority of results in the literature thus far, the controllers are based on the robot's kinematic model. They do not directly address realistic factors such as motor dynamics, quantization, sensor noise...

In this paper we describe a fuzzy logic based approach for providing biologically based motivations to be used in evolutionary mobile robot learning. Takagi-Sugeno-Kang (TSK) fuzzy logic is used to motivate a small mobile robot to acquire complex behaviors and to perform environment recognition. This method is implemented and tested in behavior based navigation and action sequence based environ...

Robot design complexity is increasing day by day especially in automated industries. In this paper we propose biologically inspired design framework for robots in dynamic world on the basis of Co-Evolution, Virtual Ecology, Life time learning which are derived from biological creatures. We have created a virtual khepera robot in Framsticks and tested its operational credibility in terms hardwar...

In this paper anewbehavior-basedapproach for the control of autonomous robotic systems is proposed. The so-called null-space-based behavioral (NSB) control differs from the other existing methods in the behavioral coordination, i.e., in the way the outputs of the single elementary behaviors are combined to compose a complex behavior. The proposed approach is compared with the main existing appr...