Efficient and Perfect domination on circular-arc graphs

Given a graph $G = (V,E)$, a \emph{perfect dominating set} is a subset of vertices $V' \subseteq V(G)$ such that each vertex $v \in V(G)\setminus V'$ is dominated by exactly one vertex $v' \in V'$. An \emph{efficient dominating set} is a perfect dominating set $V'$ where $V'$ is also an independent set. These problems are usually posed in terms of edges instead of vertices. Both problems, either for the vertex or edge variant, remains NP-Hard, even when restricted to certain graphs families. We study both variants of the problems for the circular-arc graphs, and show efficient algorithms for all of them

A Developmental Learning Approach of Mobile Manipulator via Playing

Inspired by infant development theories, a robotic developmental model combined with game elements is proposed in this paper. This model does not require the definition of specific developmental goals for the robot, but the developmental goals are implied in the goals of a series of game tasks. The games are characterized into a sequence of game modes based on the complexity of the game tasks from simple to complex, and the task complexity is determined by the applications of developmental constraints. Given a current mode, the robot switches to play in a more complicated game mode when it cannot find any new salient stimuli in the current mode. By doing so, the robot gradually achieves it developmental goals by playing different modes of games. In the experiment, the game was instantiated into a mobile robot with the playing task of picking up toys, and the game is designed with a simple game mode and a complex game mode. A developmental algorithm, “Lift-Constraint, Act and Saturate,” is employed to drive the mobile robot move from the simple mode to the complex one. The experimental results show that the mobile manipulator is able to successfully learn the mobile grasping ability after playing simple and complex games, which is promising in developing robotic abilities to solve complex tasks using games

Intelligent Wireless Remote Control System Design for a Biped Robot

This paper presents the design and implementation of an intelligent wireless remote control system for a biped robot. A recurrent cerebellar model neural network (RCMNN) is introduced, then it is used for the walking control of a biped robot. Furthermore, the remote communication module is designed for the remote control of a robot. Finally, experimental results show that the developed system can achieve satisfactory control performance for the walking control of a high-order nonlinear biped robot