Title :
Topological characterization of mobile robot behavior
Author :
Hazan, Aurelien ; Davesne, Frederic ; Vigneron, Vincent ; Maaref, Hichem
Author_Institution :
Image & Signal Process. Team, IBISC, Evry
Abstract :
We propose to classify the behaviors of a mobile robot thanks to topological methods as an alternative to metric ones. To do so, we adapt an analysis scheme from physics of nonlinear systems in chaotic regime, assuming a dissipative dynamics that relaxes on a low-dimensional manifold. Sensor data recorded from a mobile robot during a wall-following experiment allows to compute topological invariants that give a standardized representation of the structure of the set of trajectories, and enable us to discriminate among similar behaviors in a systematic and quantitative way
Keywords :
chaos; mobile robots; nonlinear control systems; nonlinear dynamical systems; topology; chaotic regime; dissipative dynamics; mobile robot behavior; nonlinear systems; topological characterization; Chaos; Fractals; Frequency estimation; Intelligent robots; Mobile robots; Nonlinear dynamical systems; Robot kinematics; Robot sensing systems; Signal processing; Working environment noise;
Conference_Titel :
Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on
Conference_Location :
Beijing
Print_ISBN :
1-4244-0258-1
Electronic_ISBN :
1-4244-0259-X
DOI :
10.1109/IROS.2006.281905
