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

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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

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