In this paper, we present the implementation, both in a simulator

and in a real-robot version, of an efficient solution to the so-called

dynamical nightwatch’s problem on the micro-robot Khepera. The problem

consists mainly in exploring a previously unknown environment while

detecting, registering and recognizing light sources which may dynamically

be turned on and off. At the end of each round a report is requested

from the robot. Therein we made use of an agent-based approach and

applied a self-organizing feature map in order to refine some of the behaviour

generating control-modules.