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 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 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...

This paper describes a new approach for promoting the evolution of relatively complex behaviours in evolutionary robotics, based on the use of noise in simulation. A `homing navigation' behaviour is evolved (in simulation) for the Khepera mobile robot, and it is shown that high noise levels in the simulation promote the evolution of relatively complex behavioural and neural dynamics. It is also...

In this paper we propose a robotics framework for studying emergence and collective adaptation. We describe two sets of experiments, where a pool of heterogeneous Khepera robots, participate in adapting the collective behavior, without being aware of it but just in virtue of the design of their internal structure. The innovative aspect in our approach rests on a system integrating communication...

Membrane controllers have been developed using Numerical P Systems and their extension, Enzymatic Numerical P Systems, for controlling mobile robots like epuck and Khepera III. In this paper we prove that membrane controllers can be easily adapted for other types of robotic platforms. Therefore, obstacle avoidance and follower behaviors were adapted for Koala robots. The membrane controllers fo...

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...

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...

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...