Loading...
Please wait, while we are loading the content...
Similar Documents
Navigation Strategies for Exploration and Patrolling with Autonomous Mobile Robots
| Content Provider | Semantic Scholar |
|---|---|
| Author | Merini, Alda |
| Copyright Year | 2011 |
| Abstract | Autonomous mobile robots represent a promising technology that inspired, during the past years, different research activities devoted to address the several challenges posed by the complex interactions between the robots and their environment. Intuitively, an autonomous mobile robot can perform a task without continuous human supervision. One of the most important advantages of this technology is that autonomous mobile robots can be employed for tasks that would be difficult, dangerous, or simply boring for humans. Autonomy plays a central role and is one the most challenging issues around which different research communities concentrate their efforts. Executing a task without any human supervision can be very useful in a large number of applications. Indeed, there are situations in which the human telecontrol is impossible (e.g., when the communication link is not available) or it is simply not convenient (e.g., a cleaning robot requiring a constant supervision would be unattractive for the user). Moreover, the human intervention can be subject to errors that can worsen the execution performance or even compromise the successful completion of the task. For these reasons the need for a stronger level of autonomy, that can be denoted as full autonomy, has become important. A fully autonomous robot integrates in its control architecture a planning system that can operate at two different levels of abstraction. At the higher level, a global task (a mission) is specified and the robot has to find out the set of actions to achieve it. At the lower abstraction level, the robot computes the set of low-level operations to perform a given action. This thesis is about techniques to design strategies, i.e., to equip mobile robots with the ability to make good decisions at the higher planning level. Generally speaking, a mobile robot can be modeled as an intelligent agent [1], able to interact |
| File Format | PDF HTM / HTML |
| Alternate Webpage(s) | http://www.nicolabasilico.net/pdf/NicolaBasilico_PhDThesis_2011_Summary.pdf |
| Alternate Webpage(s) | http://basilico.di.unimi.it/pdf/NicolaBasilico_PhDThesis_2011_Summary.pdf |
| Alternate Webpage(s) | http://basilico.di.unimi.it/pdf/basilico-phd-thesis_web.pdf |
| Language | English |
| Access Restriction | Open |
| Content Type | Text |
| Resource Type | Article |
