Field Results of a Navigation Architecture with Timing Constraints

Figure 9

Map of the indoor environment for the field experiments. , , identify the different regions. Red circle identifies the starting position of the robot, . Green cross identifies the goal location, , where the missions end. Blue line represents the path followed by the robot. Empty green rectangles represent dynamic obstacles and filled red rectangles represent static obstacles. Striped areas depict forbidden area unreachable by the robot.

(a) Partial map: experiment

(b) Total map: experiments , , and