Lifelong Exploratory Navigation: an Architecture for Safer Mobile Robots

Fabrice Mayran de Chamisso, Daniela Cancila, Laurent Soulier, Roberto Passerone, Michael Aupetit

Research output: Contribution to journalArticle

Abstract

Advances in individual robotic fields such as Simultaneous Localization and Mapping, large-scale and local trajectory planning, sensor data processing and mechatronics have allowed mobile robots to operate in more complex environments. However, these fields are usually investigated independently, resulting in a lack of cross-layer integration and synchronization that affect safety due to incompatible timing constraints and error handling of different components. In this paper, we propose an integrated contract-based robot navigation stack from sensors and actuators to abstract intelligence. This stack is resource-and safety-aware. It allows continuous operation of a mobile robot within a complex environment.

Original languageEnglish
JournalIEEE Design and Test
DOIs
Publication statusAccepted/In press - 1 Jan 2019

Fingerprint

Mobile robots
Navigation
Mechatronics
Sensors
Synchronization
Robotics
Actuators
Trajectories
Robots
Planning

Keywords

  • autonomous navigation
  • contract-based design
  • cyber-physical systems
  • lifelong operation
  • mobile robot
  • planning
  • safety
  • topological map

ASJC Scopus subject areas

  • Software
  • Hardware and Architecture
  • Electrical and Electronic Engineering

Cite this

Lifelong Exploratory Navigation : an Architecture for Safer Mobile Robots. / de Chamisso, Fabrice Mayran; Cancila, Daniela; Soulier, Laurent; Passerone, Roberto; Aupetit, Michael.

In: IEEE Design and Test, 01.01.2019.

Research output: Contribution to journalArticle

de Chamisso, Fabrice Mayran ; Cancila, Daniela ; Soulier, Laurent ; Passerone, Roberto ; Aupetit, Michael. / Lifelong Exploratory Navigation : an Architecture for Safer Mobile Robots. In: IEEE Design and Test. 2019.
@article{d13fd43de8c34bb9981c42fc383c797a,
title = "Lifelong Exploratory Navigation: an Architecture for Safer Mobile Robots",
abstract = "Advances in individual robotic fields such as Simultaneous Localization and Mapping, large-scale and local trajectory planning, sensor data processing and mechatronics have allowed mobile robots to operate in more complex environments. However, these fields are usually investigated independently, resulting in a lack of cross-layer integration and synchronization that affect safety due to incompatible timing constraints and error handling of different components. In this paper, we propose an integrated contract-based robot navigation stack from sensors and actuators to abstract intelligence. This stack is resource-and safety-aware. It allows continuous operation of a mobile robot within a complex environment.",
keywords = "autonomous navigation, contract-based design, cyber-physical systems, lifelong operation, mobile robot, planning, safety, topological map",
author = "{de Chamisso}, {Fabrice Mayran} and Daniela Cancila and Laurent Soulier and Roberto Passerone and Michael Aupetit",
year = "2019",
month = "1",
day = "1",
doi = "10.1109/MDAT.2019.2952347",
language = "English",
journal = "IEEE Design and Test",
issn = "2168-2356",
publisher = "IEEE Computer Society",

}

TY - JOUR

T1 - Lifelong Exploratory Navigation

T2 - an Architecture for Safer Mobile Robots

AU - de Chamisso, Fabrice Mayran

AU - Cancila, Daniela

AU - Soulier, Laurent

AU - Passerone, Roberto

AU - Aupetit, Michael

PY - 2019/1/1

Y1 - 2019/1/1

N2 - Advances in individual robotic fields such as Simultaneous Localization and Mapping, large-scale and local trajectory planning, sensor data processing and mechatronics have allowed mobile robots to operate in more complex environments. However, these fields are usually investigated independently, resulting in a lack of cross-layer integration and synchronization that affect safety due to incompatible timing constraints and error handling of different components. In this paper, we propose an integrated contract-based robot navigation stack from sensors and actuators to abstract intelligence. This stack is resource-and safety-aware. It allows continuous operation of a mobile robot within a complex environment.

AB - Advances in individual robotic fields such as Simultaneous Localization and Mapping, large-scale and local trajectory planning, sensor data processing and mechatronics have allowed mobile robots to operate in more complex environments. However, these fields are usually investigated independently, resulting in a lack of cross-layer integration and synchronization that affect safety due to incompatible timing constraints and error handling of different components. In this paper, we propose an integrated contract-based robot navigation stack from sensors and actuators to abstract intelligence. This stack is resource-and safety-aware. It allows continuous operation of a mobile robot within a complex environment.

KW - autonomous navigation

KW - contract-based design

KW - cyber-physical systems

KW - lifelong operation

KW - mobile robot

KW - planning

KW - safety

KW - topological map

UR - http://www.scopus.com/inward/record.url?scp=85074820845&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85074820845&partnerID=8YFLogxK

U2 - 10.1109/MDAT.2019.2952347

DO - 10.1109/MDAT.2019.2952347

M3 - Article

AN - SCOPUS:85074820845

JO - IEEE Design and Test

JF - IEEE Design and Test

SN - 2168-2356

ER -