Abstract
This paper presents a survey on mobile robots as systems that can move in different environments with walking, flying and swimming up to solutions that combine those capabilities. The peculiarities of these mobile robots are analyzed with significant examples as references and a specific case study is presented as from the direct experiences of the authors for the robotic platform HeritageBot, in applications within the frame of Cultural Heritage. The hybrid design of mobile robots is explained as integration of different technologies to achieve robotic systems with full mobility.
Highlights
Mobile robotics is one of the main research topics in robotics, addressing robot design, navigation, perception, mapping, localization, motion planning, and control
The earliest mobile robots were developed in the late 1960s [1,2], when the wheeled robot Shakey was developed as a testbed for DARPA-funded AI research at Stanford
In the 2000s, a surge of interest in biomimetics and soft robotics led to the development of swimming robots with fins, undulatory motion, and flagella as main modes of locomotion [18,19,20,21,22,23,24,25], despite the challenges posed by these kinds of design
Summary
Mobile robotics is one of the main research topics in robotics, addressing robot design, navigation, perception, mapping, localization, motion planning, and control. The designs of two different mobile robots often have nothing in common, and motion parameters and requirements may vary from task to task Because of these issues, it is difficult to find a general classification of mobile robots and autonomous systems, and very few researchers have approached mobile robots with a wide perspective. Some tasks could be performed only by combining two or more modes of locomotion, or they could require moving through different environments. In these cases, a mobile robot should be able to reconfigure itself for the new scenario in order to achieve its goals. The interaction and cooperation of different locomotory systems is discussed, and the main trends, research patterns, and research gaps in hybrid mobile robots are identified
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