Topological characterization of mobile robot behavior

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Topological characterization of mobile robot behavior
— We propose to classify the behaviors of a mobile robot thanks to topological methods as an alternative to metric ones. To do so, we adapt an analysis scheme from Physics of nonlinear systems in chaotic regime, assuming a dissipative dynamics that relaxes on a low-dimensional manifold. Sensor data recorded from a mobile robot during a wall-following experiment allows to compute topological invariants that give a standardized representation of the structure of the set of trajectories, and enable us to discriminate among similar behaviors in a systematic and quantitative way. I. DESCRIBING THE BEHAVIOR OF A MOBILE ROBOT In this article we address the problem of classifying the behavior of a mobile robot, where by behavior, we mean how the robot interacts with its environment, not only where the robot is located. Whether they favor a deterministic or random treatment, most works addressing this topic in the literature adopt a metric stand, we shall see in what sense. On one hand, when ...
Aurélien Hazan, Frédéric Dave
Added 12 Jun 2010
Updated 12 Jun 2010
Type Conference
Year 2006
Where IROS
Authors Aurélien Hazan, Frédéric Davesne, Vincent Vigneron, Hichem Maaref
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