Topological characterization of mobile robot behavior

Aurélien Hazan (1) , Frédéric Davesne (1) , Vincent Vigneron (1) , Hichem Maaref (1)

1 IBISC - Informatique, Biologie Intégrative et Systèmes Complexes

We propose to classify the behaviour 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, 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.

Domaines: Informatique

Aurélien Hazan, Frédéric Davesne, Vincent Vigneron, Hichem Maaref. Topological characterization of mobile robot behavior. International Conference on Intelligent Robots and Systems (IROS 2006), Oct 2006, Beijing, China. pp.4157-4162, ⟨10.1109/IROS.2006.281905⟩. ⟨hal-00203675⟩