Abstract
In this paper, we present the implementation, both in a simulator and in a real-robot version, of an efficient solution to the so-called dynamical nightwatch's problem on the micro-robot Khepera. The problem consists mainly in exploring a previously unknown environment while detecting, registering and recognizing light sources which may dynamically be turned on and off. At the end of each round a report is requested from the robot. Therein we made use of an agent-based approach and applied a self-organizing feature map in order to refine some of the behaviour generating control-modules.
Supported by DFG-Graduiertenkolleg “Parallele Rechnernetzwerke in der Produktionstechnik”, GRK 124/2-96.
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© 1998 Springer-Verlag Berlin Heidelberg
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Löffler, A., Klahold, J., Rückert, U. (1998). The dynamical nightwatch's problem solved by the autonomous micro-robot Khepera. In: Hao, JK., Lutton, E., Ronald, E., Schoenauer, M., Snyers, D. (eds) Artificial Evolution. AE 1997. Lecture Notes in Computer Science, vol 1363. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0026609
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DOI: https://doi.org/10.1007/BFb0026609
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