Abstract
This paper proposes the PANORAMA approach, which is designed to dynamically and autonomously manage the allocation of a robot’s hardware and software resources during fully autonomous mission. This behavioral autonomy approach guarantees the satisfaction of the mission performance constraints. This article clarifies the concept of performance for autonomous robotic missions and details the different phases of the PANORAMA approach. Finally, it focuses on an experimental implementation on a patrolling mission example.
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The datasets generated during and/or analysed during the current study are available from the corresponding author on reasonable request.
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We acknowledge the University of Montpellier who funds two PhD grants supporting this research work
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This work was supported by two thesis grants from University of Montpellier (France).
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All authors contributed to the study conception and design. This study is a part of the results obtained during the PhD Thesis of L. Jaiem and P. Lambert. D. Crestani and L. Lapierre were the PhD Supervisor and Co-Supervisor of this research work. K. Godary-Dejean was also involved in this research study. The first draft of the manuscript was written by P. Lambert and all authors commented on previous versions of the manuscript. All authors read and approved the final manuscript.
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Lambert, P., Godary-Dejean, K., Lapierre, L. et al. Performance Guarantee for Autonomous Robotic Missions using Resource Management: The PANORAMA Approach. J Intell Robot Syst 110, 52 (2024). https://doi.org/10.1007/s10846-024-02058-7
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DOI: https://doi.org/10.1007/s10846-024-02058-7