Research work reported in the present paper concerns the development of a navigation system for a mobile robot designed to accomplish missions inside the building of big organizations, such as hospitals of malls. Useful terminology is first introduced, and a rather detailed presentation of architecture and overall functioning of the system follows thereafter. The most recent realization of the system is then described in some detail, and behaviours and functionalities it can exhibit are reported and discussed. Possible directions for future work are finally outlined, along with open problems that are regarded as the most interesting and challenging for the further development of the system
Bridging the Gap between Planning and Reactivity: A Layered Architecture for Autonomous Indoor Navigation
Cattoni, Roldano;Aste, Marco;Caprile, Bruno Giovanni
1994
Abstract
Research work reported in the present paper concerns the development of a navigation system for a mobile robot designed to accomplish missions inside the building of big organizations, such as hospitals of malls. Useful terminology is first introduced, and a rather detailed presentation of architecture and overall functioning of the system follows thereafter. The most recent realization of the system is then described in some detail, and behaviours and functionalities it can exhibit are reported and discussed. Possible directions for future work are finally outlined, along with open problems that are regarded as the most interesting and challenging for the further development of the systemI documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
