Quantitative description of robot–environment interaction using chaos theory

✍ Scribed by Ulrich Nehmzow; Keith Walker

• Publisher: Elsevier Science
• Year: 2005
• Tongue: English
• Weight: 771 KB
• Volume: 53
• Category: Article
• ISSN: 0921-8890
• DOI: 10.1016/j.robot.2005.09.009

✦ Synopsis

Mobile robotics research to date is still largely reliant on trial-and-error procedures, rather than exploiting established theories describing robot-environment interaction in a formal manner, making falsifiable predictions and allowing quantitative descriptions of a robot's behaviour.

We argue that quantitative performance measures are the first step towards a theory of robot-environment interaction, and present the theoretical background to such measures, as well as their practical application to mobile robotics research.

Results obtained with a Pioneer II mobile robot, executing a number of different tasks in a range of environments, are presented.