Robot localization implemented with enzymatic numerical P systems

Ana Brândusa Pavel, Cristian-Ioan Vasile, and Ioan Dumitrache. Robot localization implemented with enzymatic numerical P systems. In Proc. of the Living Machines 2012: The International Conference on Biomimetic and Biohybrid Systems, volume 7375 of Lecture Notes in Computer Science, pages 204–215, Barcelona, Spain, July 2012. Springer Berlin Heidelberg. doi:10.1007/978-3-642-31525-1_18.

Published date: 
Monday, July 9, 2012

Membrane computing is an interdisciplinary research field focused on new computational models, also known as P systems, inspired by the compartmental model of the cell and the membrane transport mechanisms. Numerical P systems are a type of P systems introduced by Gh. Păun in 2006 for possible applications in economics. Recently, an extension of numerical P systems, enzymatic numerical P systems, has been defined in the context of robot control. This paper presents a new approach to modeling and implementing autonomous mobile robot behaviors and proposes a new odometry module implemented with enzymatic numerical P systems for robot localization. The advantages of modeling robot behaviors with enzymatic membrane controllers and the experimental results obtained on real and simulated robots are also discussed.