Taking distributed robotic system research from simulation to the real world often requires the use of small robots that can be deployed and managed in large numbers. This has led to the development of a multitude of these devices, deployed in the thousands by researchers worldwide. This paper looks at the Khepera IV mobile robot, the latest iteration of the Khepera series. This full-featured d...

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...

In this paper we present neural network modules that are capable of controlling the miniature robot Khepera. As an interesting application we decided to tackle the task of playing golf with the Khepera. Several challenging subtasks have to be fulfilled to perform the complex behaviour needed. Our special focus of interest lies on: building a map, localization within the map, hitting the ball an...

1 Problem description As an interesting application we present the task of playing golf with the Khepera. Several challenging have to be fulfilled to perform the complex behaviour needed. Our special focus of realization lies on: building a map, localization within the map, hitting the ball and local reactive path planning using neural network approaches. The golf playing Khepera with the attac...

This short paper explains how the Khepera robot was developed, from the initial idea to the its commercialisation by K-Team. The goal of this paper is not a scientific analysis but an historical overview of the steps made in the development of this robot since 1991. The papers introduces first the situation of the team who started the development, then decisions made in creating the actual Khep...

Navigation and obstacle avoidance in an unknown environment is proposed in this paper using hybrid neural network with fuzzy logic controller. The overall system is termed as Adaptive Neuro Fuzzy Inference System (ANFIS). ANFIS combines the benefits of fuzzy logic and neural networks for the purpose of achieving robotic navigation task. Simulation results are presented using Khepera Simulator (...

An incremental approach is used to simulate the evolution of neural controllers for robust obstacle-avoidance in a Khepera robot and proves to be more eecient than a direct approach. During a rst evolutionary stage, obstacle-avoidance controllers in medium-light conditions are generated. During a second evolutionary stage, controllers avoiding strongly-lighted regions, where the previously acqu...