Analysis of the time-varying robustness of a dynamic navigation strategy

We present a new approach to assess the robustness of motion planning strategies for dynamic environments. This method is based on the analysis of the time-varying vector field produced by the motion planning strategy and representing the robot trajectory. Features related to the robustness of the motion strategy are studied by examining field conservativeness and its associated potential function. Since both features are time-varying, they are visualized by sequences of graphical plots. This paper summarizes the main aspects of the approach and presents simulation results.