System interdependence analysis for autonomous mobile robots

Authors:
Florian Rohrmüller;Georgios Lidoris;Dirk Wollherr;Martin Buss
Affiliations:
Institute of Automatic Control Engineering, Faculty of Electrical Engineering, Technische Universität München, München, Germany;Institute of Automatic Control Engineering, Faculty of Electrical Engineering, Technische Universität München, München, Germany;Institute of Automatic Control Engineering, Faculty of Electrical Engineering, Technische Universität München, München, Germany;Institute of Automatic Control Engineering, Faculty of Electrical Engineering, Technische Universität München, München, Germany
Venue:
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Year:
2009

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Abstract

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.