A first-stage experiment of long term activity of autonomous mobile robot — result of repetitive base-docking over a week

  • Yasushi Hada
  • Shin’ichi Yuta
Conference paper
Part of the Lecture Notes in Control and Information Sciences book series (LNCIS, volume 271)


The aim of this research is the realization of an autonomous mobile robot which can perform many kind of tasks in a real environment for a long duration without supports by human operators. We call such autonomy long term activity.

A robot, which works for long term autonomously should be able to get re-charging the battery without failure, at least. As the first-step of long term activity, we made a basic experiment in which our mobile robot are presented in this paper. In the experiment, our robot “Yamabico-Liv” survived over a week while it had repetitively performed going in and out of the battery charge station every 10 minutes. In this paper, the implementation and result of this experiment, and next one which is now undergoing are presented.


Charge Station Mobile Robot Real Environment Basic Experiment Term Activity 
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    Shin’ichi Yuta and Yasushi Hada: Long term activity of the autonomous robot-Proposal of a bench-mark problem for the autonomy, Proceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS’98), Oct.1998, pp. 1871–1878Google Scholar
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    Yasushi Hada and Shin’ichi Yuta: Robust navigation and battery re-charging system for Long Term Activity of autonomous mobile robot, The 9th International Conference on Advanced Robotics(’99 ICAR), Oct.l999, pp.297–302Google Scholar
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    Tomoki Ogura and Shin’ichi Yuta: Autonomous Navigation Function as System-level Software in Mobile Robot Platform “Yamabico” Proceedings of the 4th Robotics Symposia, pp.359–366, 1999Google Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 2001

Authors and Affiliations

  • Yasushi Hada
    • 1
  • Shin’ichi Yuta
    • 1
  1. 1.Intelligent Robot LaboratoryUniversity of TsukubaTsukubaJapan

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