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Abstract
  • 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.
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