We consider the problem of coverage path planning by multiple robots in an environment where the location and geometry of obstacles are initially unknown to the robots. We propose a novel algorithm where the robots initially partition the environment using Voronoi partitioning. Each robot then uses an auction-based algorithm to reallocate inaccessible portions of its initial Voronoi cell to rob...

This article presents an experiment which investigates how collaboration in a group of simple reactive robots can be obtained through the exploitation of local interactions. A test-bed experiment is proposed in which the task of the robots is to pull sticks out of the ground —an action which requires the collaboration of two robots to be successful. The experiment is implemented in a physical s...

Coordination of mobile robot teams has attracted significant attention in the area robotics research. As one most important techniques used multi-robot systems, coverage shown great potential to be applied many real-world applications. In this paper, we aim provide a novel path planning method for with applications cooperative autonomous vacuum cleaning. Some preliminary results are presented u...

Abstract This research focuses on the performance of obstacle avoidance feature implemented a wheeled mobile robot by using Sugeno Fuzzy Inference System (FIS). The test was done simulation software Webots and layout first draft out walls, floors, objects in order to set boundary obstacles for simulation. To effectiveness efficiency terms time distance, trajectory Khepera implementing FIS recor...

The objective of this paper is to devise a vision-based control scheme for the Khepera-II robot to achieve efficient object tracking using fuzzy logic. The robot is equipped with a K2D video turret. The algorithm was verified in simulation study by the Webots simulator using a colored ball as the sample object. Pattern recognition was not performed hence the algorithm can be used for tracking t...

By using the single VGA camera installed on mobile robot, a vision-based intelligent obstacle avoidance algorithm is developed in this paper. The image data are processed by edge detection method. By using the adaptive network based fuzzy inference system (ANFIS), the horizontal edge numbers (HEN) and vertical edge numbers (VEN) are feed into ANFIS to train the fuzzy rules such as to control th...

This article deals with a usage of artificial intelligent techniques in humanoid robotics. The focus is on social robotics and how to improve the interaction between human and robot. We used the interactive evolution for robotic dance system. In this work the definition, principles and basic features of Interactive Evolutionary Computation are described. This technique optimizes systems based o...

This paper proposes a stable modifiable walking pattern generator with a vertical foot motion generated by a central pattern generator that is obtained from the evolutionary constrained optimization. A modifiable walking pattern generator is employed which generates sagittal and lateral position trajectories of center of mass of humanoid robot and a CPG generates the vertical foot trajectory of...

Motions reinforce meanings in human-robot communication, when they are relevant and initiated at the right times. Given a task of using motions for an autonomous humanoid robot to communicate, different sequences of relevant motions are generated from the motion library. Each motion in the motion library is stable, but a sequence may cause the robot to be unstable and fall. We are interested in...