Relationship between Quality of Control and Quality of Service in Mobile Robot Navigation

  • José-Luis Poza-LujánEmail author
  • Juan-Luis Posadas-Yagüe
  • José-Enrique Simó-Ten
Part of the Advances in Intelligent and Soft Computing book series (AINSC, volume 151)


This article presents the experimental work developed to test the viability and to measure the efficiency of an intelligent control distributed architecture. To do this, a simulated navigation scenario of Braitenberg vehicles has been developed. To test the efficiency, the architecture uses the performance as QoS parameter. The measuring of the quality of the navigation is done through the ITAE QoC parameter. Tested scenarios are: an environment without QoS and QoC managing, an environment with a relevant message filtering and an environment with a predictive filtering by the type of control. The results obtained show that some of the processing performed in the control nodes can be moved to the middleware to optimize the robot navigation.


Robot Navigation Control Node Mobile Robot Navigation Message Rate Useful Message 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2012

Authors and Affiliations

  • José-Luis Poza-Luján
    • 1
    Email author
  • Juan-Luis Posadas-Yagüe
    • 1
  • José-Enrique Simó-Ten
    • 1
  1. 1.University Institute of Control Systems and Industrial Computing (ai2)Universitat Politècnica de València (UPV)ValenciaSpain

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