A robotics testbed : the design & implementation with applications.

Abstract

In order to study the movements of autonomous mobile robots, a tool is needed to quantify those movements. A testbed is an apparatus that provides a designated space for multiple mobile robots while tracking their position in real-time. That tracking information can also be communicated to the robots themselves to serve as closed-loop feedback. With this tool, many techniques can be developed and validated through various control experiments. A design and implementation of a testbed is presented here. The testbed is analyzed for its performance and several applications are presented to demonstrate its usefulness.

Real-time trajectory generation for dynamic systems with nonholonomic constraints using Player/Stage and NTG.

“…Given a system (12) and initial, trajectory, and final cost functions (13) and constraints subject to boundary…”