Lifelong Exploratory Navigation: An Architecture for Safer Mobile Robots

被引：2

作者：

de Chamisso, Fabrice Mayran ^{[1
]}

Cancila, Daniela ^{[1
]}

Soulier, Laurent ^{[1
]}

Passerone, Roberto ^{[2
]}

Aupetit, Michael ^{[3
]}

机构：

[1] French Alternat Energies & Atom Energy Commiss CE, LIST, Gif Sur Yvette, France

[2] Univ Trento, Trento, Italy

[3] Hamad Bin Khalifa Univ HBKU, Qatar Comp Res Inst, Doha, Qatar

来源：

IEEE DESIGN & TEST | 2021年 / 38卷 / 05期

关键词：

Robot sensing systems; Actuators; Computer architecture; Safety; Lenses; Timing; mobile robot; autonomous navigation; planning; safety; contract-based design; cyber-physical systems; lifelong operation; topological map;

D O I：

10.1109/MDAT.2019.2952347

中图分类号：

TP3 [计算技术、计算机技术];

学科分类号：

0812 ;

摘要：

Editor's notes: This article studies a layered architecture for robotics design, proposes a contract-based interface between the layers, and shows how cross-layer adaptation between these layers can be done in response to different scenarios. -Samarjit Chakraborty, University of North Carolina at Chapel Hill

引用

页码：57 / 64

页数：8

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