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...

For implementing efficient cooperative behaviour strategies of a group of robots an appropriate communication system is needed. Depending on the robot’s task different communication techniques may be used. We have analyzed an ultrasonic detection and communication system, a communication technique that uses infrared transmitters and receivers and a radio based system using Bluetooth technology....

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...

A model that is consistent with several neurophysiological properties of biological headdirection cells is presented. The dynamics of the system is primarily controlled by idiothetic signals which determine the direction selectivity property. By means of LTP correlation learning, allothetic cues are incorporated to stabilize the direction representation over time. The interaction between alloth...

Abstract. Through the present paper, a new approach useful for solving the obstacle avoidance and trajectory optimization problems during robot navigation for certain tasks to be performed at minimum costs. In its real sense, the obstacle avoidance approach is based on the application of two fuzzy controllers, the first of which is designed to join the object, while the second is conceived to s...

A computer language is a very general form of representing and specifying an autonomous agent's behavior. The task of planning feasible actions could then simply be reduced to an instance of automatic programming. We have evaluated the use of an evolutionary technique for automatic programming called Genetic Programming (GP) to directly control a miniature robot. To our knowledge, this is the r...

This project investigates the evolution in simulation of robot controllers capable of performing a hard task, playing football, in the real world. It is argued that for any reasonably interesting task, robot controllers are too di cult to design, and that an evolutionary methodology must be employed. It is further argued that evolution in the real world is too slow for such a task, and that evo...

Habituation is a form of non-associative learning observed in a variety of species of animals. Arguably, it is the simplest form of learning. Nonetheless, the ability to habituate to certain stimuli implies plastic neural systems and adaptive behaviors. This article describes how computational models of habituation can be applied to real robots. In particular, we discuss the problem of the osci...