Reactive navigation through multiscroll systems: from theory to real-time implementation

Abstract

In this paper a new reactive layer for multisensory integration applied to robot navigation is proposed. The new robot navigation technique exploits the use of a chaotic system able to be controlled in real-time towards less complex orbits, like periodic orbits or equilibrium points, considered as perceptive orbits. These are subject to realtime modifications on the basis of environment changes acquired through a distributed sensory system. The strategy is inspired to the olfactory bulb neural activity observed in rabbits subject to external stimuli. The mathematical details of the approach are given including simulation results in a virtual environment. Furthermore the proposed strategy has been tested on an experimental environment consisting of an FPGA-based hardware driving an autonomous roving robot. The obtained results demonstrate the capability to perform a real-time navigation control. P. Arena · S. De Fiore · L. Fortuna · M. Frasca · L. Patané ( ) ·

Characterization of multiscroll attractors using Lyapunov exponents and Lagrangian coherent structures

“…As mentioned earlier, an one-dimensional array of scrolls can be achieved by taking d 2 ¼ 0 in (7) and changing parameters p 1 and q 1 for adding scrolls, respectively, in the positive and in the negative x-direction of the phase space. For this sort of multiscroll attractor, Table I describes function series (8) to obtain the one-dimensional array of scrolls, the respective number of obtained scrolls, the estimated Lyapunov spectrum, and the Kaplan-Yorke dimension.…”

“…This particular propriety of multiscroll attractors has already been explored within the engineering framework as, for instance, for mobile robot navigation purposes. 7 In general, multiscroll attractors can be obtained from non-smooth piecewise linear dynamics (e.g., variants of the classical Chua's system 11,49 ), where the number of scrolls is associated with the number of different linear domains a) Electronic mail: fazanaro@dca.fee.unicamp.br exhibited by the dynamics. Furthermore, the insertion of new scrolls is given by the addition of new state equation solutions, which implies in new linear intervals and, consequently, in the division of the phase space into new partitions that are visited through the scrolls.…”

An incomplete gallery: machines, cognition, and nonlinearities

“…The idea of a robot controlled by a chaotic system is further exploited in Arena et al (2008a), where the so-called weak chaos control is introduced. According to Fig.…”

Reconfigurable implementations of PWL-based multiscroll chaos generator

“…Multiscroll chaos generators, which have possible application fields such as broadband signal generators, CNN (Cellular Neural Networks) structures, secure communications and random number generators, exhibit richer dynamics than singleband and double-band chaotic attractors [1]- [5]. Therefore, since first multiscroll model proposed by Suykens and Vandewalle using quasilinear function approach [6], multiscroll chaotic attractors have been a widely researched field of study.…”