Around the lab in 40 days [indoor robot navigation]

The authors previously (1998) argued that the LAAS architecture is one of the most suitable for mobile robot control. This statement may seem over-optimistic, not to say pretentious and unverifiable. After all, can we compare architectures? can we set up benchmarks? or can we measure how good an architecture is compared to another? An architecture defines organization principles, integration methods and supporting tools. Comparing those tools, methods and principles may sometime end up in sterile controversies. However, we think there are means to measure the overall quality (or interest) of an architecture. Development time is for example one relevant criterion. Basically, using a specific architecture, how long does it take to integrate a complete demonstration, including nontrivial decisional capabilities, from the low level functional modules up to the supervisory level? This may seem a rather weak measure of architecture quality; however, it encompasses properties such as genericity and adaptability, ease of design and programming, extensibility and robustness. In this paper we describe our recent experience in integrating a complete demonstration from scratch in 40 days using the LAAS architecture