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How do you close the current window in Robot Framework? 

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The dynamic window approach has the drawback that it may result in local minima and nonoptimal motion decision for obstacle avoidance because of not considering the size constraint of a mobile robot.
The framework can also deal with unavoidable obstacles, which make the robot decelerate and eventually stop.
Open accessBook ChapterDOI
Dong Sun, Jian Zhu, Shiu Kit Tso 
01 Oct 2007
14 Citations
Therefore, it is necessary to measure the robot orientation, the distance between the robot and the window frame, and the distance between the robot and the dirty spot to be cleaned.
Based on this information, the robot do not lose its goal, even if it has to avoid an obstacle.
Proceedings ArticleDOI
M. Ito, Jun Tani 
27 Sep 2004
18 Citations
We propose that both the dynamics of coherence and incoherence between the robot and the user movements could enhance close interactions between them.