This paper proposes a novel trajectory tracking control approach for nonholonomic wheeled mobile robots. In this approach, the integration of feed-forward and feedback controls is presented to design the kinematic controller of wheeled mobile robots,

To solve the multi-objective mobile robot path planning in a dangerous environment with dynamic obstacles, this paper proposes a modified membraneinspired algorithm based on particle swarm optimization (mMPSO), which combines membrane systems with particle swarm optimization. In mMPSO, a dynamic double one-level membrane structure is introduced to arrange the particles with various dimensions and perform the communications between particles in different membranes; a point repair algorithm is presented to change an infeasible path into a feasible path; a smoothness algorithm is proposed to remove the redundant information of a feasible path; inspired by the idea of tightening the fishing line, a moving direction adjustment for each node of a path is introduced to enhance the algorithm performance. Extensive experiments conducted in different environments with three kinds of grid models and five kinds of obstacles show the effectiveness and practicality of mMPSO.

Although a lot of research has been done in the field of state-based testing, the automatic generation of test cases from a functional specification in the form of a state machine is not straightforward. This paper investigates the use of genetic algorithms in test data generation for the chosen paths in the state machine, so that the input parameters provided to the methods trigger the specified transitions.

The application of metaheuristic search techniques in test data generation has been extensively investigated in recent years. Most studies, however, have concentrated on the application of such techniques in structural testing. The use of search-based techniques in functional testing is less frequent, the main cause being the implicit nature of the specification. This paper investigates the use of search-based techniques for functional testing, having the specification in form of a state machine. Its purpose is to generate input data for chosen paths in a state machine, so that the parameter values provided to the methods satisfy the corresponding guards and trigger the desired transitions. A general form of a fitness function for an individual path is presented and this approach is empirically evaluated using three search techniques: simulated annealing, genetic algorithms and particle swarm optimization.

This paper presents the newly introduced class of (simple) kernel P systems ((s)kP systems) and investigates through a 3-colouring problem case study the expressive power and efficiency of kernel P systems. It describes two skP systems that model the problem and analyses them in terms of efficiency and complexity. The skP models prove to be more succinct (in terms of number of rules, objects, number of cells and execution steps) than the corresponding tissue P system, available in the literature, that solves the same problem, at the expense of a greater length of the rules.

Structural and behavioural properties of models are very important in development of complex systems and applications. In this paper, we investigate such properties for some classes of SN P systems. First, a class of SN P systems associated to a set of routing problems are investigated through their matrix representation. This allows to make certain connections amongst some of these problems. Secondly, the behavioural properties of these SN P systems are formally verified through a natural and direct mapping of these models into kP systems which are equipped with adequate formal verification methods and tools. Some examples are used to prove the effectiveness of the verification approach.