Question

Formulate different metrics that could be used to compare the performance of the robotic system with the presently used manual system

Answer 1

Performance Metrics for Coverage
Coverage task is difficult for a robot because the environment is dynamic and complex. The following performance metrics are used.
Compute the coverage rate. To compute the coverage rate of a robot,
we build a map with SLAM to compute the free space Af ree and get the area Arobot robot.

Rcover=Arobot/Afree.

3.1 Computing the Repeat Coverage Area Ratio

We record positions of the cleanning robots with MoCap while they run freely in the simulated home environment, and we de-sample the positions so that each position is at least 2 cm or 2 deg away from its neighbors. Then we compute the
repeat coverage area ratio by feeding the positions

3.2 Computing the Distance Travelled

This metric is very simple, we can compute the distance Drobot that the robot travelled by summing up the distance of each two adjacent positions. Dmin is the least length which a robot travels just covers the whole filed.

The efficiency of the coverage E can be calculated by:

E = Drobot/Dmin.

Algorithm 1. Computing the repeat coverage area ratio

1: Each grid of map M has two filed, -covered, repetition time
2: Let C indicate whether a grid of map is covered
3: Let R indicate times that a grid of map is covered
4: Input: Robot positions P
5: procedure ComputeRepetition(P)
6: I'← ∅
7: for p ∈ P do
8: Compute indexes I that the robot covers in position p
9: for i ∈ I − I'
do
10: C [i] ← 1
11: R [i] ← R [i]+1
12: I'← I