Lessons Learned in Integration for Sensor-Based Robot Navigation Systems
Luis Montesano, Javier Mínguez, Luis Montano · International Journal of Advanced Robotic Systems · 2006
This paper presents our work of integration during the last years within the context of sensor-based robot navigation systems. In our motion system, as in many others, there are functionalities involved such as modeling, planning or motion control, which have to be integrated within an architecture. This paper addresses this problematic. Furthermore, we also discuss the lessons learned while: (i) designing, testing and validating techniques that implement the functionalities of the navigation system, (ii) building the architecture of integration, and (iii) using the system on several robots equipped with different sensors in different laboratories.