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

Löffler A, Klahold J, Rückert U (2001)
In: Proceedings of the 5th International Heinz Nixdorf Symposium: Autonomous Minirobots for Research and Edutainment (AMiRE01). Rückert U, Sitte J, Witkowski U (Eds);97. Paderborn, Germany: Heinz Nixdorf Institut, Universität Paderborn: 93-130.

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Conference Paper | Published | English
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Rückert, Ulrich ; Sitte, Joaquin ; Witkowski, Ulf
Abstract
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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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.
Löffler, A., Klahold, J., & Rückert, U. (2001). The Mini-Robot Khepera as a Foraging Animate: Synthesis and Analysis of Behaviour. In U. Rückert, J. Sitte, & U. Witkowski (Eds.), Proceedings of the 5th International Heinz Nixdorf Symposium: Autonomous Minirobots for Research and Edutainment (AMiRE01) (Vol. 97, pp. 93-130). Paderborn, Germany: Heinz Nixdorf Institut, Universität Paderborn.
Löffler, A., Klahold, J., and Rückert, U. (2001). “The Mini-Robot Khepera as a Foraging Animate: Synthesis and Analysis of Behaviour” in Proceedings of the 5th International Heinz Nixdorf Symposium: Autonomous Minirobots for Research and Edutainment (AMiRE01), ed. U. Rückert, J. Sitte, and U. Witkowski, vol. 97, (Paderborn, Germany: Heinz Nixdorf Institut, Universität Paderborn), 93-130.
Löffler, A., Klahold, J., & Rückert, U., 2001. The Mini-Robot Khepera as a Foraging Animate: Synthesis and Analysis of Behaviour. In U. Rückert, J. Sitte, & U. Witkowski, eds. Proceedings of the 5th International Heinz Nixdorf Symposium: Autonomous Minirobots for Research and Edutainment (AMiRE01). no.97 Paderborn, Germany: Heinz Nixdorf Institut, Universität Paderborn, pp. 93-130.
A. Löffler, J. Klahold, and U. Rückert, “The Mini-Robot Khepera as a Foraging Animate: Synthesis and Analysis of Behaviour”, Proceedings of the 5th International Heinz Nixdorf Symposium: Autonomous Minirobots for Research and Edutainment (AMiRE01), U. Rückert, J. Sitte, and U. Witkowski, eds., vol. 97, Paderborn, Germany: Heinz Nixdorf Institut, Universität Paderborn, 2001, pp.93-130.
Löffler, A., Klahold, J., Rückert, U.: The Mini-Robot Khepera as a Foraging Animate: Synthesis and Analysis of Behaviour. In: Rückert, U., Sitte, J., and Witkowski, U. (eds.) Proceedings of the 5th International Heinz Nixdorf Symposium: Autonomous Minirobots for Research and Edutainment (AMiRE01). 97, p. 93-130. Heinz Nixdorf Institut, Universität Paderborn, Paderborn, Germany (2001).
Löffler, Axel, Klahold, Jürgen, and Rückert, Ulrich. “The Mini-Robot Khepera as a Foraging Animate: Synthesis and Analysis of Behaviour”. Proceedings of the 5th International Heinz Nixdorf Symposium: Autonomous Minirobots for Research and Edutainment (AMiRE01). Ed. Ulrich Rückert, Joaquin Sitte, and Ulf Witkowski. Paderborn, Germany: Heinz Nixdorf Institut, Universität Paderborn, 2001.Vol. 97. 93-130.
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