QUANTITATIVE ANALYSIS OF ROBOT-ENVIRONMENT INTERACTION — ON THE DIFFERENCE BETWEEN SIMULATIONS AND THE REAL THING∗

This paper presents a quantitative analysis of trajectories of mobile robots or their computer simulations, based on the Error Growth Factor (EGF ), an approximation of the Lyapunov exponent. Using the EGF , it can be shown that deterministic chaos can be present in the behaviour of a mobile robot interacting with its environment, and that there is a substantial difference between physical mobile robots and their generic computer models.

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