A Visualization Tool for the Mini-Robot Khepera: Behaviour Analysis and Optimization

Löffler A, Klahold J, Hußmann M, Rückert U. A Visualization Tool for the Mini-Robot Khepera: Behaviour Analysis and Optimization. In: Floreano D, Nicoud J-D, Mondada F, eds. Proceedings of the 5th International European Conference on Artificial Life (ECAL99). Vol 1674. Lausanne, Switzerland: Springer-Verlag; 1999: 329-333.The design of behavior generating control structures for real robots acting autonomously in a real and changing environment is a complex task. This is in particular true with respect to the debugging process, the documentation of the encountered behavior, its quantitative analysis and the final evaluation. To successfully implement such a behavior, it is vital to couple the synthesis on a simulator and the experiment on a real robot with a thorough analysis. The available simulator tools in general only allow behavioral snapshots and do not provide the option of online interference. In order to cure these shortcomings, a visualization tool for aposteriori graphical analysis of recorded data sets which gives access to all relevant internal states and parameters of the system is presented. The mini-robot Khepera has been chosen as experimentatory platform

Demonstration of a Visualization Tool for the Mini-Robot Khepera

Löffler A, Klahold J, Hußmann M, Rückert U. Demonstration of a Visualization Tool for the Mini-Robot Khepera. In: Web publication of the 5th International European Conference on Artificial Life (ECAL). Lausanne, Switzerland; 1999