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Journal of Robotics
Volume 2015 (2015), Article ID 318695, 14 pages
Research Article

Field Results of a Navigation Architecture with Timing Constraints

1Department of Industrial Electronics, University of Minho, 4804-533 Guimaraes, Portugal
2ISR, Instituto Superior Tecnico, 1049-001 Lisboa, Portugal

Received 23 June 2015; Accepted 28 September 2015

Academic Editor: Yangmin Li

Copyright © 2015 Jorge Silva et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This paper presents results of field tests of a mobile robot controlled by a navigation architecture accounting for timing constraints in an indoor environment. Dependability properties characterize the effects of disturbances on the ability to successfully accomplish any assigned missions, described in terms of the stability of an equilibrium state identified with a goal location. The stability is analyzed using Contraction theory. A localization system based on artificial landmarks is used to obtain location estimates that enable the robot to autonomously cover large distances. Monte Carlo tests assess the architecture under different real environment conditions including recovering from disturbing events such as landmark detection failures, robot kidnapping, unexpected collisions, and changes in the density of obstacles in the environment. Tests include long-run missions of around 2900 m lasting for 4.5 hours.