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- W2279926872 abstract "The work presented in this paper deals with the development of a methodologyfor resource-efficient behaviour synthesis on autonomous systems. In this context, a definitionof a maximal problem with respect to the resources of a given system is introduced. Itis elucidated by means of an exemplary implementation of the solution to such a problemusing the mini-robot Khepera as the experimental platform. The described task consists ofexploring an unknown and dynamically changing environment, collecting and transportingobjects, which are associated with light-sources, and navigating to a home-base. The criticalpoint is represented by the accumulated positioning errors in odometrical path-integrationdue to slippage. Therefore, adaptive sensor calibration using a specific variant of Kohonen’salgorithm is applied in two cases to extract symbolic, e.g. geometric, information from thesub-symbolic sensor data, which is used to enhance position control by landmark mappingand orientation. In order to successfully handle the arising complex interactions, a heterogeneouscontrol-architecture based on a parallel implementation of basic behaviours coupledby a rule-based central unit is proposed." @default.
- W2279926872 created "2016-06-24" @default.
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- W2279926872 date "2001-01-01" @default.
- W2279926872 modified "2023-10-03" @default.
- W2279926872 title "The Mini-Robot Khepera as a Foraging Animate: Synthesis and Analysis of Behaviour" @default.
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