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...

In this paper anewbehavior-basedapproach for the control of autonomous robotic systems is proposed. The so-called null-space-based behavioral (NSB) control differs from the other existing methods in the behavioral coordination, i.e., in the way the outputs of the single elementary behaviors are combined to compose a complex behavior. The proposed approach is compared with the main existing appr...

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...

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...

Computational models of cognitive processes based on neural substrates clarify our understanding of the ongoing mechanisms during these high order processes. These models also inspire new approaches and techniques for implementing intelligent systems. Here, an implementation of goal-directed behaviour on Khepera II mobile robot will be presented. The main point of this work is to show the poten...

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 (...