IEEE Robotics & Automation Magazine - September 2017 - 149

Scenario Routines and Robot
Maintenance Requirements

d
an
ns s
o
i
t
w
ura ndo
k D e Wi
s
Ta Tim

Task Order
and Timings

on
ati
vig tions
a
N ra
Du

Topological Goals,
Navigation Statistics
Monitored
Navigation

Duration/

Topological Goals/Position,
Recovery Actions
Topological
Navigation

FreMEn

Success
Predictions
M
Pr ap
ed /St
ict ate
io
ns

on
ati n
vig tio
Na ecu
Ex

Adaptive
Navigation

Scheduler

esults
Task R ns
o
Predicti

Task Executor

Task Definitions

Continuous
Navigation

Long-Term Data
MongoDB Store
Components Log Data
to Long-Term Store

2-D Navigation Goals, Position
Figure 2. A schematic overview of the STRANDS Core System. 2-D: two-dimensional.

topological map are parametrized by the
action required to move along them. In
addition to DWA navigation, our system
can perform door passing, docking with
a charging station, and adaptive navigation near humans [10].
In our experience, navigation performance is a major determinant of
the autonomous run time of a mobile
robot. This is because navigation failures (e.g., getting stuck near obstacles)
can result in the robot being unable to
return to its charging station. The elements of the STRANDS Core System
support LTA in the following ways: By
constraining the robot's movements to
the topological map, we are able to
restrict navigation to known good Figure 3. The map of the deployment area in Challenge House in Tewkesbury, United Kingdom,
with the topological map superimposed. Also displayed are the locations where the robot
areas of the environment. We addi- successfully recovered from a navigation failure. Locations where the bumper was triggered are
tionally restrict movement by marking red, and green locations indicate nonbumper fails; the robot asked humans for help at these
areas of the static map as "no go" locations. Places where recoveries were performed by reversing along the previous path are
marked in yellow, and recoveries performed by simply retrying are shown in blue.
zones that cannot be planned through.
Despite these restrictions, navigation
failures still occur due to environmental dynamics (e.g., peo- event of failure (see the "Monitored Navigation" section).
ple walking in front of the robot). Therefore, edge traversals Topological route planning and execution is one area where
in the topological map are executed by a monitored naviga- our core system adapts to long-term experience, as described
tion layer that can perform a range of recovery actions in the in the "Adaptive Topological Navigation" section.
SEPTEMBER 2017

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IEEE ROBOTICS & AUTOMATION MAGAZINE

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Table of Contents for the Digital Edition of IEEE Robotics & Automation Magazine - September 2017

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