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This paper presents a multi-robot system for an intelligent wheelchair. This system creates maps of the environment using SLAM (Simultaneous Localization And Mapping) algorithm and partially updates this maps around the planned trajectory after fixing the target by the user. Temporary obstacles like humans, animals, closed doors ... Are not considered in the updating process. An object recognition...
Autonomous MultiRobot Systems are developing useful capabilities in several fields of applications as surveillance, exploration and space cleaning. Moreover, important features are of robotics' environments like avoid collision and planning should be handled. Furthermore, the distributed planning approaches, considered as MultiAgent planning, can be thought as a specialization of distributed problem...
In this paper the investigation is placed on the hierarchic neuro-fuzzy systems as a possible solution for biped control. An hierarchic controller for biped is presented, it includes several sub-controllers and the whole structure is generated using the adaptive Neuro-fuzzy method. The proposed hierarchic system focus on the key role that the centre of mass position plays in biped robotics, the system...
The goal of BEWHEELI project is to command and control a powered wheelchair throughout thoughts and gaze. For this purpose, a bi-modal real time collaborative system should be put in place, so it can enhance severely disabled people mobility in hostile indoor environment.
This paper describes a clustering process taking inspiration from the cemetery organization of ants. The goal of this paper is (i) to show the importance of the local interactions which allow to produces complex and emergent behavior. (ii) To propose a multi-robot systems in the field of clustering objects allowing optimization of: time of convergence, rate of occupation of the objects in the environment...
This paper presents an intelligent hybrid system to support the planning for a mobile robot motion in unknown and dynamic environment. Called Fuzzy-MARCoPlan (Fuzzy-MultiAgent Remote Control motion Planning), this system optimizes the path by the introduction of sub-goals and through a multiagent cooperation based on fuzzy reasoning. In fact, we propose to agentify the surrounding zones of the robot;...
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