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Université de Neuchâtel

A behaviour-based Architecture to Control an Autonomous Mobile Robot

Tièche, François ; Facchinetti Claudio ; Hügli, Heinz

In: Proceeding. Intelligent Autonomous Systems (IAS), 1995, vol. 4, p. 1-7

In this paper, we present the implementation of an autonomous mobile robot controller based on a behavioural architecture. This architecture is composed of three layers: sensori-motor, behavioural, sequencing. The paper describes its general structure and the function of its main elements. It further analyses the development of an example task presenting the advantages of such an architecture.

Université de Neuchâtel

Self-Positioning Robot Navigation Using Ceiling Image Sequences

Facchinetti Claudio ; Tièche, François ; Hügli, Heinz

In: Proceeding ACCV'95 (Asian Conference on Computer Vision), 1995, vol. 3, p. 814-818

This paper presents the analysis of a vision-based homing behavior that provides self-positioning for a mobile robot using ceiling structures as landmarks. This new behavior enters the navigation approach we developed for mobile robots, which basic idea is to represent the robot spatial knowledge in a topological map, where nodes consist of self-positioning sites and edges may be any reactive...