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Elements of Robotics

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Real-Time Obstacle Avoidance for Polygonal Robots with a Reduced Dynamic Window

Roland Siegwart, Nicola Tomatis, Jan Persson, Kai Oliver Arras

In this paper we present an approach to obstacle avoidance and local path planning for polygonal robots. It decomposes the task into a model stage and a planning stage. The model stage accounts for robot shape and dynamics using a reduced dynamic window. T ...

2002

Evolutionary Robotics. The Biology, Intelligence, and Technology of Self-organizing Machines

Dario Floreano

Evolutionary robotics is a new technique for the automatic creation of autonomous robots. Inspired by the Darwinian principle of selective reproduction of the fittest, it views robots as autonomous artificial organisms that develop their own skills in clos ...

MIT Press2001

Evolution of Spiking Neural Controllers for Autonomous Vision-based Robots

Dario Floreano, Claudio Mattiussi

We describe a set of preliminary experiments to evolve spiking neural controllers for a vision-based mobile robot. All the evolutionary experiments are carried out on physical robots without human intervention. After discussing how to implement and interfa ...

Springer-Verlag2001

Evolution of Plastic Control Networks

Dario Floreano, Joseba Urzelai

Evolutionary Robotics is a powerful method to generate efficient controllers with minimal human intervention, but its applicability to real-world problems remains a challenge because the method takes long time and it requires software simulations that do n ...

2001

Evolutionary Robotics: The Next Generation

Dario Floreano, Joseba Urzelai

After reviewing current approaches in Evolutionary Robotics, we point to directions of research that re likely to bring interesting results in the future. e then address two crucial aspects for future developments of Evolutionary Robotics: choice of fitnes ...

AAI Books2000

Evolutionary Robots with on-line self-organization and behavioral fitness

Dario Floreano, Joseba Urzelai

We address two issues in Evolutionary Robotics, namely the genetic encoding and the performance criterion, also known as fitness function. For the first aspect, we suggest to encode mechanisms for parameter self-organization, instead of the parameters them ...

2000

Evolutionary Robotics: Coping with Environmental Change

Dario Floreano, Joseba Urzelai

In this paper an evolutionary method consisting of encoding a set of local adaptation rules that synapses obey while a robot freely moves in the environment is compared to standard evolution of fixed-weight control networks. The results show ha evolutionar ...

2000

Evolutionary Neurocontrollers for Autonomous Mobile Robots

Dario Floreano, Francesco Mondada

In this article we describe a methodology for evolving neurocontrollers of autonomous mobile robots without human intervention. The presentation, which spans from technological and methodological issues to several experimental results on evolution of physi ...

1998

Applying means-ends analysis to spatial planning

Boi Faltings, Pearl Pu Faltings

Currently known methods for robot planning fall far behind human capabilities: they require approximations of shapes, and they cannot generate plans which involve moving obstacles to clear a path for the moving object. In this paper, we explore the hypothe ...

Publ by IEEE, Piscataway, NJ, USA1992

Applying means-ends analysis to spatial planning

Boi Faltings, Pearl Pu Faltings

Existing methods for robot planning fall far behind human capabilities: they require approximations of shapes, and they cannot generate plans which involve moving obstacles to clear a path for the moving object. The authors explore the hypothesis that mean ...

IEEE1991