English   español  
Please use this identifier to cite or link to this item: http://hdl.handle.net/10261/85657
Share/Impact:
Statistics
logo share SHARE logo core CORE   Add this article to your Mendeley library MendeleyBASE

Visualizar otros formatos: MARC | Dublin Core | RDF | ORE | MODS | METS | DIDL
Exportar a otros formatos:
Title

Reaction-diffusion navigation robot control: from chemical to VLSI analogic processors

AuthorsAdamatzky, Andrew; Carmona-Galán, R. ; Rodríguez-Vázquez, Ángel
Issue Date2004
PublisherInstitute of Electrical and Electronics Engineers
CitationIEEE Transactions on Circuits and Systems I: Regular Papers 51(5): 926-938 (2004)
AbstractWe introduce a new methodology and experimental implementations for real-time wave-based robot navigation in a complex, dynamically changing environment. The main idea behind the approach is to consider the robot arena as an excitable medium, in which moving objects-obstacles and the target-are represented by sites of autowave generation: the target generates attractive waves, while the obstacles repulsive ones. The moving robot detects traveling and colliding wave fronts and uses the information about dynamics of the autowaves to adapt its direction of collision-free motion toward the target. This approach allows us to achieve a highly adaptive robot behavior and thus an optimal path along which the robot reaches the target while avoiding obstacles. At the computational and experimental levels, we adopt principles of computation in reaction-diffusion (RD) nonlinear active media. Nonlinear media where autowaves are used for information processing purposes can therefore be considered as RD computing devices. In this paper, we design and experiment with three types of RD processors: experimental and computational Belousov-Zhabotinsky chemical processor, computational CNN processor, and experimental RD-CNN very large-scale integration chip-the complex analog and logic computing engine (CACE1k). We demonstrate how to experimentally implement robot navigation using space-time snapshots of active chemical medium and how to overcome low-speed limitation of this >wetware> implementation in CNN-based silicon processors.
Description13 páginas, 15 figuras, 1 tabla.-- et al.
Publisher version (URL)http://dx.doi.org/10.1109/TCSI.2004.827654
URIhttp://hdl.handle.net/10261/85657
DOI10.1109/TCSI.2004.827654
Identifiersdoi: 10.1109/TCSI.2004.827654
issn: 1549-8328
Appears in Collections:(IMSE-CNM) Artículos
Files in This Item:
File Description SizeFormat 
Reaction-diffusion.pdf879,62 kBAdobe PDFThumbnail
View/Open
Show full item record
Review this work
 

Related articles:


WARNING: Items in Digital.CSIC are protected by copyright, with all rights reserved, unless otherwise indicated.