TY - GEN
T1 - System interdependence analysis for autonomous mobile robots
AU - Rohrmüller, Florian
AU - Lidoris, Georgios
AU - Wollherr, Dirk
AU - Buss, Martin
PY - 2009/12/11
Y1 - 2009/12/11
N2 - Autonomous mobile robots are deployed in a variety of application domains, resulting in scenario specific implementations. However these systems share common components responsible for perception, path planning and task execution. In order to find a formal way to identify the influence of the environmental complexity to the used methods, an approach for quantitative system interdependence analysis is introduced. The coherence between several performance indicators of different system components, as well as the influence of environmental parameters on the system, are learned and quantitatively evaluated. Performance evaluation of an autonomous robot navigating in two different urban environments is conducted and presented results demonstrate the applicability of the proposed approach.
AB - Autonomous mobile robots are deployed in a variety of application domains, resulting in scenario specific implementations. However these systems share common components responsible for perception, path planning and task execution. In order to find a formal way to identify the influence of the environmental complexity to the used methods, an approach for quantitative system interdependence analysis is introduced. The coherence between several performance indicators of different system components, as well as the influence of environmental parameters on the system, are learned and quantitatively evaluated. Performance evaluation of an autonomous robot navigating in two different urban environments is conducted and presented results demonstrate the applicability of the proposed approach.
UR - http://www.scopus.com/inward/record.url?scp=76249129580&partnerID=8YFLogxK
U2 - 10.1109/IROS.2009.5353905
DO - 10.1109/IROS.2009.5353905
M3 - Conference contribution
AN - SCOPUS:76249129580
SN - 9781424438044
T3 - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
SP - 696
EP - 701
BT - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
T2 - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Y2 - 11 October 2009 through 15 October 2009
ER -