In this paper, a new method was proposed for the navigation of a mobile robot in an unknown dynamic environment. The robot could detect only a limited radius of its surrounding with its sensors and it went on the shortest null space (SNS) toward the goal. In the case of no obstacle, SNS was a direct path from the robot to goal; however, in the presence of obstacles, SNS was a space around the r...

This paper proposes an integrated methodology and its solution for supplier selection problem. A twostage stochastic programming model and fuzzy TOPSIS methods are consolidated in this methodology. After pre-research phase, in the second part of the methodology, fuzzy TOPSIS is used for ranking potential suppliers considering qualitative data under fuzzy environment. In the third part of the me...

Adaptive automata have been developed as a formal device intended to handle complex input languages, featuring context dependencies. As other adaptive formalisms, adaptive automata collect information from its inputs and may change its own behavior in response to that information. Therefore, such formalisms are able to dynamically acquire and represent knowledge. Independent navigation require ...

This paper describes an adaptive hybrid visual servoing/force controller to realize visual servoing while the manipulator exerts contract force on a surface. The proposed controller has a hybrid structure of visual servoing control and force control. Because it has an on-line estimator for the parameters of the cameramanipulator system and the one for the parameters of the unknown constraint su...

In this paper, we study the online path planning for khepera II mobile robot in an unknown environment. The well known heuristic A* algorithm is implemented to make the mobile robot navigate through static obstacles and find the shortest path from an initial position to a target position by avoiding the obstacles. The proposed path finding strategy is designed in a grid-map form of an unknown e...

Different applications in the field of vision-based navigation of autonomous mobile robots depend on the degree of knowledge of the environment. Indoor environment applications often use landmarks or maps for navigation. Others have only knowledge of known and expected objects. In such applications, parts of the scene are classified in these objects, e.g. road junctions, doors, walls, furniture...

This paper presents a novel real-time path planning algorithm for an autonomous mobile agent in completely unknown environment. In this algorithm, all the planned paths are described and stored in the form of vectors in the algorithm. Only the rotation angle and the movement distance in a single direction are considered when the autonomous moves along the planned paths. The algorithm combines r...

Corresponding Author: Mohamed Emharraf Laboratory of Electronic, Image and Data Processing Systems (LSEII), University MOHAMMED 1st (UMPO), OUJDA, Morocco Email: [email protected] Abstract: The autonomy is the most crucial criteria in mobile robots. This operation aims to offer the ability of finding the position and build a map of the environment to the robot. Many methods have been propose...

Anomaly detection is an important problem for environment, fault diagnosis and intruder detection in Wireless Sensor Networks (WSNs). A key challenge is to minimize the communication overhead and energy consumption in the network when identifying these abnormal events. We present a machine learning (ML) framework that is suitable for WSNs to sequentially detect sensory level anomalies and time-...

In this paper we present an online algorithm for pursuitevasion in a unknown simply connected environment, for one pursuer that has minimal sensing and carries a set of stationary sentries that it can drop off and pick up during the pursuit. In our sensing model, the pursuer is only able to detect discontinuities in depth information (gaps), and it is able to find all of the evaders without any...