Towards a Multi-mission QoS and Energy Manager for Autonomous Mobile Robots

Abstract

An increasing demand on the autonomy of mobile robotic platforms requires adaptive on-line decisions reacting to the dynamic and unpredictable working environment with respect to the robotic mission requirements. These decisions are constrained by the limited computing resources and the energy that the mobile robot can carry. Moreover, in a multi-mission robotic context, these decisions must ensure a minimal quality of service (QoS) for each mission. This decision making problem leverages a characterization and monitoring phase of the system (computing and energy) resources and the robotic missions. In this article, we characterize, monitor and analyze our mobile robotic platform and an autonomous navigation mission as the principal mission of a mobile robot. The results of real experimentations on our robotic platform are analyzed and they highlight the necessity for an efficient mission manager.