Behavioral-based autonomous robot operation under robot-central base loss of communication

Abstract

Robot navigation requires the use of a reliable map. Depending on the environment conditions, this map needs a constant update for a safe navigation. Autonomous robots use this map but at the same can contribute to the updating process, requiring a permanent connection to the cloud where the map is created and modified based on the robots’ information. In this paper, authors present a robot navigation scheme based in hybrid control behavior when the connection to the cloud is loss for some reason. Robot needs to recover a known position to restart its mission and the behavior definitions allow this fact. Results with real data are presented in front of different situations of network coverage.