Developing Khepera robot applications in a Webots environment

Khepera is a high performance mini-robot. Its compact power allows an efficient experimentation using a real robot and applying the basic simulation tools. Webots is a high quality Khepera simulator used in the fields of autonomous systems, intelligent robotics, evolutionary robotics, machine learning, computer vision, and artificial intelligence. The simulation program can be transferred to the real robots easily. The aim of this article is to support the development of Khepera applications in the Webots environment. Starting from the introduction of Khepera robot and its development methodologies, the paper presents and analyses an application example of Khepera robot in the Webots environment. Finally, current applications and future research directions are presented.