Topic
Mobile robot navigation
About: Mobile robot navigation is a research topic. Over the lifetime, 14713 publications have been published within this topic receiving 263092 citations.
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IBM1
TL;DR: It is shown how supervisory control can be added to a reactive multiagent system for robots based on treating the existing behavioral agents as simply an enhanced effector command language and designing a higher-level control structure that switches them on and off.
Abstract: Multiagent control systems for robots are considered. A robot is described that is based on treating the existing behavioral agents as simply an enhanced effector command language and designing a higher-level control structure that switches them on and off. It is shown how supervisory control can be added to such a reactive multiagent system. >
99 citations
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TL;DR: The autonomous robot system, the web-based interfaces, and how they communicate with the robot are described, which includes recommendations for putting future mobile robots on the web.
Abstract: We have been running an experiment in web-based interaction with an autonomous indoor mobile robot. The robot, called Xavier, can accept commands to travel to different offices in our building, broadcasting camera images as it travels. The experiment, which was originally designed to test a new navigation algorithm, has proven very successful. This article describes the autonomous robot system, the web-based interfaces, and how they communicate with the robot. It highlights lessons learned during this experiment in web-based robotics and includes recommendations for putting future mobile robots on the web.
99 citations
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11 Dec 2000TL;DR: Some functionalities that are currently running on board the Marsokhod model robot Lama at LAAS/CNRS are described, and the necessity to integrate various instances of the perception and decision functionalities is focused on.
Abstract: Autonomous long range navigation in partially known planetary-like terrain is an open challenge for robotics. Navigating several hundreds of meters without any human intervention requires the robot to be able to build various representations of its environment, to plan and execute trajectories according to the kind of terrain traversed, to localize itself as it moves, and to schedule, start, control and interrupt these various activities. In this paper, we briefly describe some functionalities that are currently running on board the Marsokhod model robot Lama at LAAS/CNRS. We then focus on the necessity to integrate various instances of the perception and decision functionalities, and on the difficulties raised by this integration.
99 citations
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TL;DR: In the study, a path tracking problem is formulated as following a virtual target vehicle which is assumed to move exactly along the path with specified velocity and the drivingvelocity control law is designed basing on bang-bang control considering the acceleration bounds of driving wheels.
Abstract: In order to avoid wheel slippage or mechanical damage during the mobile robot navigation, it is necessary tosmoothly change driving velocity or direction of the mobile robot. This means that dynamic constraints of the mobile robotshould be considered in the design of path tracking algorithm. In the study, a path tracking problem is formulated asfollowing a virtual target vehicle which is assumed to move exactly along the path with specified velocity. The drivingvelocity control law is designed basing on bang-bang control considering the acceleration bounds of driving wheels. Thesteering control law is designed by combining the bang-bang control with an intermediate path called the landing curve whichguides the robot to smoothly land on the virtual target’s tangential line. The curvature and convergence analyses providesufficient stability conditions for the proposed path tracking controller. A series of path tracking simulations and experimentsconducted for a two-wheel driven mobile robot show the validity of the proposed algorithm.
99 citations
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01 Jan 2005TL;DR: This paper introduces the application of a sensor network to navigate a flying robot and uses this system in a large-scale outdoor experiment with Mote sensors to guide an autonomous helicopter along a path encoded in the network.
Abstract: This paper introduces the application of a sensor network to navigate a flying robot. We have developed distributed algorithms and efficient geographic routing techniques to incrementally guide one or more robots to points of interest based on sensor gradient fields, or along paths defined in terms of Cartesian coordinates. The robot itself is an integral part of the localization process which establishes the positions of sensors which are not known a priori. We use this system in a large-scale outdoor experiment with Mote sensors to guide an autonomous helicopter along a path encoded in the network.
99 citations