F. Mondada, E. Franzi, and P. Ienne, "Mobile robot miniaturisation: A tool for investigation in control algorithms," in Proc. of the 3rd Int. Symp. on Experimental Robotics. Heidelberg: Springer-Verlag, 1994, pp. 501--513.  Home/Search   Document Details and Download   Summary   Related Articles   Check

....5. Finally, section 6 concludes and points at future work. 2. Previous Research Recently we have studied several different aspects of the evolution of controllers for boxpushing. In our studies we employed a publicly available mobile robot simulator based on the widely used mobile robot Khepera [9]. A schematic illustration of the robot is shown in figure 1. The (simulated) Khepera is equipped with eight proximity sensors and two motors. We augmented the simulator with a movable object, i.e. a circular box. The box pushing task was introduced by Lee, Hallam and Lund [7] Our work differs ....

F. Mondada, E. Franzi and P. Jenne. Mobile robot miniaturisation: A tool for investigating in control algorithms. In T. Yoshikawa and F. Miyazaki, eds., Proceedings of the Third International Symposium on Experimental Robotics, pp. 501-513. Springer-Verlag, Berlin, 1993.

....in section 3 and discussed in section 4. Finally, section 5 concludes and points at future work. 2 Experimental Procedure 2. 1 The robot simulator and previous research In our box pushing studies we employ a publicly available mobile robot simulator based on the widely used mobile robot Khepera [5]. A schematic illustration of the robot is shown in figure 1. The (simulated) Khepera is equipped with eight proximity sensors and two motors. We augmented the simulator with a movable object, i.e. a circular box. One of our studies focused on the type of fitness function to be used for ....

F. Mondada, E. Franzi and P. Jenne. Mobile robot miniaturisation: A tool for investigating in control algorithms. In T. Yoshikawa and F. Miyazaki, editors, Proceedings of the Third International Symposium on Experimental Robotics, pp. 501-513. Springer-Verlag, Berlin, 1993.

....the neural control mechanism, and the evolutionary algorithm (EA) As part of the EA the di erent tness functions considered are described. 2. 1 Simulation environment In our experiments, we employed a publicly available mobile robot simulator 1 based on the widely used mobile robot Khepera [10]. We augmented the simulator with a movable object, i.e, the circular box shown in gure 1. The main adaptations in the source code concerning the movable object can be found in appendix B. The left panel in gure 1 illustrates the experimental set up for studying box pushing behaviour. The ....

F. Mondada, E. Franzi, and P. Jenne. Mobile robot miniaturisation: A tool for investigation in control algorithms. In T. Yoshikawa and F. Miyazaki, editors, Proceedings of the Third International Symposium on Experimental Robotics, pages 501-513, Berlin, 1993. Springer-Verlag.

....in section 3 and discussed in section 4. Finally, section 5 concludes and points at future work. 2 Experimental Procedure 2. 1 The robot simulator and previous research In our box pushing studies we employ a publicly available mobile robot simulator based on the widely used mobile robot Khepera [4]. A schematic illustration of the robot is shown in figure 1. The (simulated) Khepera is equipped with eight proximity sensors and two motors. We augmented the simulator with a movable object, i.e. a circular box. One of our studies focused on the type of fitness function to be used for ....

F. Mondada, E. Franzi and P. Jenne. Mobile robot miniaturisation: A tool for investigating in control algorithms. In T. Yoshikawa and F. Miyazaki, editors, Proceedings of the Third International Symposium on Experimental Robotics, pp. 501-513. Springer-Verlag, Berlin, 1993.

....left (2) before moving backwards (3) to give it a better approach (4) to the target. 6 Related Work Constructing robots that are small, easily deployable, and yet can do useful work and operate reliably over long period of times has proven to be quite di cult. Most miniature robots have wheels [2, 10], others can jump [5] y [14] or swim [3] So far, their use has been limited to research laboratories. Our Scout robots promise to be among the rst miniature robots ready for eld deployment. To control a large group of robots, a software architecture must allow for distributed operations and ....

F. Mondada, E. Franzi, and P. Ienne. Mobile robot miniaturisation: A tool for investigation in control algorithms. In Experimental Robotics III, Proc. of the 3rd Int'l Symposium on Experimental Robotics, pages 501-513, Kyoto, Japan, Oct. 1993. Springer Verlag, London.

....large snake [7] These are envisioned as being restricted to certain special environments, such as water or gas pipes in need of inspection. Miniature mobile robots (on the order of cubic centimeters in size) have been investigated but are limited to laboratory investigation of robotic algorithms [11]. Our scouts promise to be among the first miniature robots to be ready for field exploration. Even smaller robots (microrobots and nanorobots) are the subject of speculation but realized systems are still to appear [3] To provide small mobile robots with sufficient processing power, ....

F. Mondada, E. Franzi, and P. Ienne. Mobile robot miniaturisation: A tool for investigation in control algorithms. In Experimental Robotics III, Proc. of the 3rd Int'l Symposium on Experimental Robotics, pages 501--513, Kyoto, Japan, Oct. 1993. Springer Verlag, London.

....used in the simulations. A population of neural networks (Rumelhart and McClelland, 1986) are evolutionarily trained to control a mobile robot designed to keep an arena clear by picking up trash objects and releasing them outside the arena. The organism is a miniature mobile robot (Khepera; Mondada et al. 1993; see Figure 1) which is supported by two wheels that allow it to move in various directions by regulating the speed of each wheel. In addition, the robot is provided with a gripper module with two degrees of freedom. The robot is also provided with eight infrared proximity sensors and an optical ....

Mondada, F., Franzi, E., and Ienne, P. 1993. Mobile robot miniaturisation: a tool for investigation in control algorithms. In Yoshikawa, T. and Miyazaki, F. (Eds.). Proceedings of the Third International Symposium on Experimental Robotics.

....describes the experimental procedure by discussing the simulation environment, the neural control mechanism, and the evolutionary algorithm. Simulation environment In our experiments, we employed a publicly available mobile robot simulator 1 based on the widely used mobile robot Khepera [10]. We augmented the simulator with a movable object (i.e. the circular box; 1 http: diwww.epfl.ch lami team michel khep sim index.html Figure 1: Screen shot of the simulator, with the newly implemented movable object (large black circle) and the environment in which the experiments were ....

F. Mondada, E. Franzi, and P. Jenne. Mobile robot miniaturisation: A tool for investigation in control algorithms. In T. Yoshikawa and F. Miyazaki, editors, Proceedings of the Third International Symposium on Experimental Robotics, pages 501-513, Berlin, 1993. Springer-Verlag.

....goal of VLab is to support teaching of behavioral modeling by studying colored robotic paths in 2D space. These paths are generated by one or more simulated robots or vehicles , which can draw paint on the canvas while moving around. A simplified robot model, inspired from the Khepera robot (Mondada et al. 1993), was adopted for supporting the vehicle models developed and examined. Each vehicle s sensors perceive stimuli sources and are directly connected to its motors that control motion, without elaborate processing. The topology of the connections between sensors and motors as well as the properties ....

Mondada, F., E. Franzi, and P. Ienne (1993) Mobile robot miniaturisation: A tool for investigation in control algorithms. Proceedings Third International Symposium on Experimental Robotics, Kyoto, Japan, October.

....evolutionary adaptation techniques, hereafter referred to as adaptive neuro robotics, has become a standard methodology in bottom up AI research. 40 Figure 8: The Khepera, a wheeled miniature mobile robot commonly used in adaptive robotics research (manufactured by K Team SA; for details see Mondada et al. 1993). The model shown here is equipped with infrared sensors and a simple camera. The rest of this section is structured as follows: Subsection 4.4.1 discusses the role of adaptive neurorobotics as a form of radical connectionism from an AI and cognitive science perspective. Different adaptation ....

Mondada, Francesco, Franzi, E., and Ienne, P. (1993). Mobile robot miniaturisation: A tool for investigating in control algorithms. In Third International Symposium on Experimental Robotics, Kyoto, Japan.

....from both parents. The mutation process allows new characteristics to develop and can be compared to the copying errors in the example taken from Braitenberg. Nolfi (Nolfi and Parisi, 1995) presents evolutionary robot experiments where a neural control structure is evolved for a Khepera (Mondada et al. 1993) robot. The Khepera is a miniature robot that operates in an arena on a desk top, see Picture 2. In the experiments described by Nolfi the robot is equipped with distance sensors and a gripper. The task was to clean the environment by throwing small objects outside the arena. This task implies ....

Mondada, F., Franzi, E., and Ienne, P. (1993). Mobile robot miniaturisation: A tool for investigating in control algorithms. In Third International Symposium on Experimental Robotics, Kyoto, Japan.

....big (top) and small (bottom left) arenas respectively represented as patches of 0.1m and 0.07m diameter lying on the floor. Bottom right Division of the small arena into 80 zones. The experiments with local communication (section 4) are carried out in Webots [13] a 3 D simulator of the Khepera [15] robots. The experiments are realized in two circular arenas of 1 meter and 2 meters diameter respectively as shown in figure 1. The simulator gives a faithful representation of the Khepera robots [15] by introducing noise in the robots movements and sensors measurements as measured on the real ....

....local communication (section 4) are carried out in Webots [13] a 3 D simulator of the Khepera [15] robots. The experiments are realized in two circular arenas of 1 meter and 2 meters diameter respectively as shown in figure 1. The simulator gives a faithful representation of the Khepera robots [15], by introducing noise in the robots movements and sensors measurements as measured on the real Khepera robots. Each robot is provided with 9 infra red (IR) sensors (8 are used to detect other robots and the arena walls, the 9th IR is activated only by the walls and allows to distinguish between ....

F. Mondada, E. Franzi & P. Ienne, (1993), `Mobile Robot Miniaturisation: a Tool for Investigation in Control Algorithms', Proceedings of ISER'93, Kyoto, Japan, October 1993. Also at http://diwww.epfl.ch/lami/robots/K-family/.

....of the problem by modelling the system as a set of probabilistic equations. The model is used to determine explicitly correlations between the system s variables. The prediction of the probabilistic model are then compared to simulations realised in Webots [10] a 3 D simulator of the Khepera [12] robots. In this respect, our work follows current line of research which develops probabilistic models of multi agents systems, e.g. for representing biological systems (ants society [4] or engineering systems ( 17] The rest of this paper is divided as follows. Section 2 describes the ....

....results of the simulations and compares those to the predictions of the probabilistic model. Section 5 conclude the paper with a short summary of the results of our studies. 2 The simulations 2. 1 The experimental set up Simulations were carried out in Webots [10] a 3 D simulator of the Khepera [12] robots. Simulations use two circular arenas of 1 meter and 2 meters diameter respectively as shown in figure 1. The Khepera robot is round with a diameter of 5.5cm. Thus, we study the exploration strategy in environments which are 1600 and 400 times the robot s size. The simulator gives a ....

F. Mondada, E. Franzi & P. Ienne, (1993), `Mobile Robot Miniaturisation: a Tool for Investigation in Control Algorithms', Proceedings of ISER'93, Kyoto, Japan, October 1993. Also at http://diwww.epfl.ch/lami/robots/K-family/.

....arguments for using a topological map and then present a well known diffusion mechanism for processing both the input and output data of the PTM. The basic qualitative aspects of functioning of the PTM will be described. Then, we will propose results of an experiment implemented on a Khepera robot [MONDADA93], that illustrates the performances of the PTM in function of the importance given to topology information. In this section, we will review both the evidence for topological organization in biological nervous systems, their usefulness for building internal representations, and artificial models. ....

....realization of that. The eight sensors provide the input to the PTM, and a diffusion mechanism is applied to them. Three basic actions are used: turn 35 left, turn 35 right or move forward by about 1.5cm. Such small movements are required because the range of the infrared sensors is about 3 cms [MONDADA93]. The global network is depicted on fig. 5. Figure 5: The control neural network for learning obstacle avoidance. Input is coded as an array of eight vectors, each corresponding to an infrared sensor. For each sensor, the value is quantized and diffused. Sensorial situations are coded on a ....

Mondada F., Franzi, Ed., Ienne P., (1993) Mobile Robot Miniaturisation: A Tool For Investigation In Control Algorithms, Proceedings of the Third International Symposium on Experimental Robotics, Kyoto, Oct. 28-30.

....disappear ( are born and die ) continuously. The study evaluates the influence of parameters, such as the range of communication and the rate of death and birth of robots and objects on the robots learning performance. Further, the simulation will be implemented in a real set up of ten Khepera [39] robots. Our work showed the importance of behavioural capacities alongside cognitive ones for addressing the symbol grounding problem. Behavioural mechanisms which act as external attentional processes are required alongside general cognitive abilities of associativity. We proposed a ....

F. Mondada, E. Franzi & P. Ienne (1993), `Mobile Robot Miniaturisation: a Tool for Investigation in Control Algorithms', Proceedings of ISER'93, Kyoto, Japan.

....briefly in the following subsections, together with examples of their use in the selforganization of sign processes in artificial organisms. 30 Figure 4: The Khepera, a wheeled miniature mobile robot commonly used in adaptive robotics research (manufactured by K Team SA; for details see Mondada et al. 1993). The model shown here is equipped with infrared sensors and a simple camera. 4.1.1 Artificial Neural Networks For the understanding of the argument here it suffices to know that an ANN is a network of a (possibly large) number of simple computational units, typically organized in layers (cf. ....

Mondada, Francesco, Franzi, E., and Ienne, P. (1993). Mobile robot miniaturisation: A tool for investigating in control algorithms. In Third International Symposium on Experimental Robotics, Kyoto, Japan.

....setups and the obtained results, and presents some analysis of how networks of different architectures solve the tasks. The final section then summarises the paper and discusses the results. 2 Experiments 2. 1 Robot and Simulator The robot used in Nolfi s experiments was a Khepera robot [9] equipped with eight infrared proximity sensors and a gripper with two degrees of freedom (i.e. the arm can be moved up and down, and the hands can be opened and closed) The gripper also has a light barrier object sensor, which detects whether or not there is an object between the hands. For ....

F. Mondada, E. Franzi, and P. Ienne, Mobile robot miniaturisation: A tool for investigation in control algorithms, Proceedings of the Third International Symposium on Experimental Robotics, Kyoto, Japan, pp. 501 - 513, 1993.

....found. 2.2. 2 Khepera Xmorph Experiments with the microrobot Khepera (K team, Lausanne, Switzerland) were performed using the distributed simulation environment Xmorph [Verschure, 1997b] Figure 3: About here Khepera (Figure 3A) is a circular robot with a diameter of 55 mm and a height of 30 mm [Mondada et al. 1993]. The basic configuration consists of two modules; the base plate and the processor module. All modules are connected by an extension bus to allow easy expansion. The base plate constitutes the elementary interface to the real world; effectors and obstacle light detection. The robot uses two ....

Mondada, F., Franzi, E., and Ienne, P. (1993). Mobile robot miniaturisation: A tool for investigation in control algorithms. In Experimental Robotics III: Proceedings of the 3rd International Symposium on Experimental Robotics, Kyoto, Japan, October 28-30, 1993, pages 501--513. Berlin: Springer Verlag.

....big (top) and small (bottom left) arenas respectively represented as patches of 0.1m and 0.07m diameter lying on the floor. Bottom right Division of the small arena into 80 zones. The experiments with local communication (section 4) are carried out in Webots [16] a 3 D simulator of the Khepera [18] robots. In the first set of experiments (section 4) simulation studies are realized in two circular arenas of 1 meter and 2 meters diameter respectively as shown in figure 1. The Khepera robot is round with a diameter of 5.5cm. Thus, we study the exploration strategy in environments which are ....

....with global communication (section 5) are carried out in an square arena of 78 by 78 cm. A photo of the physical set up and a picture of its implementation in Webots is given in figure 2. The experiments are realized with 1 to 4 Khepera robots. A technical description of the robots can be found in [18]. In the experiments, the robots are provided with eight infra red sensors (six in the front and two in the back with which they perform obstacle avoidance, see section 2.3) They communicate via radio using a Motorola radio transceiver (418 MHz, 4800 Baud rate) In these experiments, the database ....

F. Mondada, E. Franzi & P. Ienne, (1993), `Mobile Robot Miniaturisation: a Tool for Investigation in Control Algorithms', Proceedings of ISER'93, Kyoto, Japan, October 1993. Also at http://diwww.epfl.ch/lami/robots/K-family/.

....(3) by an additional factor e Forget , which describes the relation between learning and unlearning. Dc ij Forget = e Forget l k f (c ij ) s j q kj ) s i q ki ) V(t) 5) REAL WORLD PROGRAMMING INTERFACE Currently, the robot that can be controlled with NNetView is Khepera TM [14]. The robot sensors include a CCD color camera, distance sensors and ambient light sensors. Moreover, the robot consists of a 2 DOF gripper which delivers sensory information concerning arm positions and information whether or not there is an object present in the gripper (Fig. 2) The camera ....

Mondada, F., Franzi, E., Ienne, P. (1993): Mobile robot miniaturisation: A tool for investigation in control algorithms. In: Proceedings of the Third International Symposium on Experimental Robotics. Kyoto, Japan.

....body and a larger wheel base that means more time steps to turn the robot can evolve. In other words, the upper limit of the size and base of a robot is constrained by the sensor range. IV. Evolving Auditory Sensor Morphology. We have developed a new piece of hardware for the Khepera roboti [19], namely ears (see Fig. 4) This hardware is reconfigurable, and will allow us to study the co evolution of controller and ears morphology. As an example consider the cricket. The male cricket Fig. 4. The Khepera robot with ears. The ears have programmable amplifiers, synthesizers, and mixers. ....

F. Mondada, E. Franzi, and P. Ienne. Mobile robot miniaturisation: A tool for investigation in control algorithms. In Experimental Robotics III. Lecture Notes in Control and Information Sciences 200, pages 501--513, Heidelberg, 1994. Springer-Verlag.

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F. Mondada, E. Franzi, and P. Ienne, "Mobile robot miniaturisation: A tool for investigation in control algorithms," in Proc. of the 3rd Int. Symp. on Experimental Robotics. Heidelberg: Springer-Verlag, 1994, pp. 501--513.

No context found.

F. Mondada, E. Franzi, and P. Ienne. Mobile Robot Miniaturisation: A Tool for Investigation in Control Algorithms. In Proceedings of the Third International Symposium on Experimental Robotics, pages 501-- 513, Kyoto, 1993.

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Francesco Mondada, Edoardo Franzi, and Paolo Ienne. Mobile robot miniaturisation: A tool for investigation in control algorithms. Proceedings of the Third International Symposium on Experimental Robotics, pages 501--513, 1993. 9

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F. Mondada, E. Franzi, and P. Ienne. Mobile robot miniaturisation: A tool for investigation in control algorithms. In T. Yoshikawa and F. Miyazaki, editors, Proceedings of the Third International Symposium on Experimental Robotics, pages 501--513, 1993.

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