Robot Localization Implemented with Enzymatic Numerical P Systems

  • Ana Brânduşa Pavel
  • Cristian Ioan Vasile
  • Ioan Dumitrache
Part of the Lecture Notes in Computer Science book series (LNCS, volume 7375)


Membrane computing is an interdisciplinary research field focused on new computational models, also known as P systems, inspired by the compartmental model of the cell and the membrane transport mechanisms. Numerical P systems are a type of P systems introduced by Gh. Păun in 2006 for possible applications in economics. Recently, an extension of numerical P systems, enzymatic numerical P systems, has been defined in the context of robot control. This paper presents a new approach to modeling and implementing autonomous mobile robot behaviors and proposes a new odometry module implemented with enzymatic numerical P systems for robot localization. The advantages of modeling robot behaviors with enzymatic membrane controllers and the experimental results obtained on real and simulated robots are also discussed.


robot membrane controller odometry localization enzymatic numerical P systems 


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Copyright information

© Springer-Verlag Berlin Heidelberg 2012

Authors and Affiliations

  • Ana Brânduşa Pavel
    • 1
  • Cristian Ioan Vasile
    • 1
  • Ioan Dumitrache
    • 1
  1. 1.Department of Automatic Control and Systems EngineeringPolitehnica University of BucharestBucharestRomania

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