Scalable navigation system for mobile robots based on the agent dual-space control paradigm
Wojciech Turek · 2010
Problems of navigation must be solved in every system, which uses mobile robots. Navigation subsystem must meet non-functional requirements, like high availability, extensibility and scalability. In this paper the problem of scalability of navigation system is considered. The solution is based on a novel, dual-space paradigm for creating agent systems controlling mobile robots. The navigation system uses a hierarchical path planning module and a distributed motion coordination method.