Abstract
AbstractThis paper introduces a concise mathematical framework for measuring robot agility. The framework is built on definitions taken from the robotics and automation domain for naming the robotic systems and components. Standardized definitions related to robot autonomy are taken into account. Robot agility is defined as an emergent system property in complex robotic systems. Based on the introduced system theoretic model and the related mathematical framework, agility evaluation methods are presented. Besides theoretical formulae, practical benchmarking methods are also considered—at least as a desirable target. The cost of agility is also discussed, as being an important factor when different systems are compared and evaluated. A simple but practical example use case of robot pick &place is examined, where all proposed agility metrics and the benchmarking procedure are explained and evaluated.KeywordsRobot agilityBenchmarkingSystems theoryEmergence
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