Field Results of a Navigation Architecture with Timing Constraints
This paper presents results of field tests of a mobile robot controlled by a navigation architecture accounting for timing constraints in an indoor environment. Dependability properties characterize the effects of disturbances on the ability to successfully accomplish any assigned missions, describe...
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| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2015-01-01
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| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2015/318695 |
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| _version_ | 1832555828097318912 |
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| author | Jorge Silva Joao Sequeira Cristina Santos |
| author_facet | Jorge Silva Joao Sequeira Cristina Santos |
| author_sort | Jorge Silva |
| collection | DOAJ |
| description | This paper presents results of field tests of a mobile robot controlled by a navigation architecture
accounting for timing constraints in an indoor environment. Dependability properties characterize the effects of
disturbances 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. |
| format | Article |
| id | doaj-art-ff3e3aeb82754b929ce85df82413164c |
| institution | Kabale University |
| issn | 1687-9600 1687-9619 |
| language | English |
| publishDate | 2015-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Robotics |
| spelling | doaj-art-ff3e3aeb82754b929ce85df82413164c2025-02-03T05:47:07ZengWileyJournal of Robotics1687-96001687-96192015-01-01201510.1155/2015/318695318695Field Results of a Navigation Architecture with Timing ConstraintsJorge Silva0Joao Sequeira1Cristina Santos2Department of Industrial Electronics, University of Minho, 4804-533 Guimaraes, PortugalISR, Instituto Superior Tecnico, 1049-001 Lisboa, PortugalDepartment of Industrial Electronics, University of Minho, 4804-533 Guimaraes, PortugalThis paper presents results of field tests of a mobile robot controlled by a navigation architecture accounting for timing constraints in an indoor environment. Dependability properties characterize the effects of disturbances 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.http://dx.doi.org/10.1155/2015/318695 |
| spellingShingle | Jorge Silva Joao Sequeira Cristina Santos Field Results of a Navigation Architecture with Timing Constraints Journal of Robotics |
| title | Field Results of a Navigation Architecture with Timing Constraints |
| title_full | Field Results of a Navigation Architecture with Timing Constraints |
| title_fullStr | Field Results of a Navigation Architecture with Timing Constraints |
| title_full_unstemmed | Field Results of a Navigation Architecture with Timing Constraints |
| title_short | Field Results of a Navigation Architecture with Timing Constraints |
| title_sort | field results of a navigation architecture with timing constraints |
| url | http://dx.doi.org/10.1155/2015/318695 |
| work_keys_str_mv | AT jorgesilva fieldresultsofanavigationarchitecturewithtimingconstraints AT joaosequeira fieldresultsofanavigationarchitecturewithtimingconstraints AT cristinasantos fieldresultsofanavigationarchitecturewithtimingconstraints |