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Topological characterization of mobile robot behavior

Abstract : 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.
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https://hal.archives-ouvertes.fr/hal-00203675
Contributor : Vincent Vigneron <>
Submitted on : Thursday, January 10, 2008 - 11:23:05 PM
Last modification on : Friday, July 17, 2020 - 2:11:19 PM
Long-term archiving on: : Tuesday, April 13, 2010 - 5:01:02 PM

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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⟩

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