Field Results of a Navigation Architecture with Timing Constraints
Joint Authors
Silva, Jorge
Sequeira, Joao
Santos, Cristina
Source
Issue
Vol. 2015, Issue 2015 (31 Dec. 2015), pp.1-14, 14 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2015-10-29
Country of Publication
Egypt
No. of Pages
14
Main Subjects
Abstract EN
This paper presents results of field tests of a mobile robot controlled by a navigation architectureaccounting for timing constraints in an indoor environment.
Dependability properties characterize the effects ofdisturbances on the ability to successfully accomplish any assigned missions, described in terms of the stability of an equilibrium state identified with a goal location.
The stability is analyzed using Contraction theory.
A localization system based on artificial landmarks is used to obtain location estimates that enable the robot to autonomously cover large distances.
Monte Carlo tests assess the architecture under different real environment conditions including recovering from disturbing events such as landmark detection failures, robot kidnapping, unexpected collisions, and changes in the density of obstacles in the environment.
Tests include long-run missions of around 2900 m lasting for 4.5 hours.
American Psychological Association (APA)
Silva, Jorge& Sequeira, Joao& Santos, Cristina. 2015. Field Results of a Navigation Architecture with Timing Constraints. Journal of Robotics،Vol. 2015, no. 2015, pp.1-14.
https://search.emarefa.net/detail/BIM-1070021
Modern Language Association (MLA)
Silva, Jorge…[et al.]. Field Results of a Navigation Architecture with Timing Constraints. Journal of Robotics No. 2015 (2015), pp.1-14.
https://search.emarefa.net/detail/BIM-1070021
American Medical Association (AMA)
Silva, Jorge& Sequeira, Joao& Santos, Cristina. Field Results of a Navigation Architecture with Timing Constraints. Journal of Robotics. 2015. Vol. 2015, no. 2015, pp.1-14.
https://search.emarefa.net/detail/BIM-1070021
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1070021