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Towards Principled Experimental Study of Autonomous Mobile Robots

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dc.contributor.author Gat, Erann en_US
dc.date.accessioned 2004-10-03T06:06:54Z
dc.date.available 2004-10-03T06:06:54Z
dc.date.issued 1995
dc.identifier.citation Autonomous Mobile Robots en_US
dc.identifier.clearanceno 95-1244
dc.identifier.uri http://hdl.handle.net/2014/31645
dc.description.abstract We review the current state of research in autonomous mobile robots and conclude that there is an inadequate basis for predicting the reliability and behavior of robots operating in unengineered environments. We present a new approach to the study of autonomous mobile robot performance based on formal statistical analysis of independently reproducible experiments conducted on real robots. Simulators serve as models rather than experimental surrogates. We demonstrate three new results: 1) Two commonly used performance metrics (time and distance) are not as well correlated as is often tacitly assumed. 2) The probability distributions of these performance metrics are exponential rather than normal, and 3) a modular, object-oriented simulation accurately predicts the behavior of the real robot in a statistically significant manner. en_US
dc.format.extent 1223567 bytes
dc.format.mimetype application/pdf
dc.language.iso en_US
dc.subject.other Object-Oriented Simulation en_US
dc.title Towards Principled Experimental Study of Autonomous Mobile Robots en_US


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