Löffler A, Klahold J, Rückert U. The Mini-Robot Khepera as a Foraging Animate: Synthesis and Analysis of Behaviour. In: Rückert U, Sitte J, Witkowski U, eds. Proceedings of the 5th International Heinz Nixdorf Symposium: Autonomous Minirobots for Research and Edutainment (AMiRE01) . Vol 97. Paderborn, Germany: Heinz Nixdorf Institut, Universität Paderborn; 2001: 93-130. ; The work presented in this paper deals with the development of a methodology for resource-efficient behaviour synthesis on autonomous systems. In this context, a definition of a maximal problem with respect to the resources of a given system is introduced. It is elucidated by means of an exemplary implementation of the solution to such a problem using the mini-robot Khepera as the experimental platform. The described task consists of exploring an unknown and dynamically changing environment, collecting and transporting objects, which are associated with light-sources, and navigating to a home-base. The critical point is represented by the accumulated positioning errors in odometrical path-integration due to slippage. Therefore, adaptive sensor calibration using a specific variant of Kohonen’s algorithm is applied in two cases to extract symbolic, e.g. geometric, information from the sub-symbolic sensor data, which is used to enhance position control by landmark mapping and orientation. In order to successfully handle the arising complex interactions, a heterogeneous control-architecture based on a parallel implementation of basic behaviours coupled by a rule-based central unit is proposed.


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    Titel :

    The Mini-Robot Khepera as a Foraging Animate: Synthesis and Analysis of Behaviour


    Beteiligte:
    Löffler, Axel (Autor:in) / Klahold, Jürgen (Autor:in) / Rückert, Ulrich (Autor:in) / Sitte, Joaquin (Autor:in) / Witkowski, Ulf (Autor:in)

    Erscheinungsdatum :

    2001-01-01


    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch


    Schlagwörter :

    Klassifikation :

    DDC:    004 / 629




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