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Mobile Robot and Mobile Manipulator Research Towards ASTM F45 Standards Developments



Roger V. Bostelman, Tsai H. Hong


Performance standards for industrial mobile robots and mobile manipulators (robot arms onboard mobile robots) have only recently begun development. Low cost and standardized measurement techniques are needed to characterize system performance, compare different systems, and determine if recalibration is required. This paper discusses work at the National Institute of Standards and Technology (NIST) and within the ASTM Committee F45 on Driverless Automatic Guided Industrial Vehicles. This includes standards for both terminology, F45.91, and for navigation performance test methods, F45.02. The paper defines terms that are being considered. Additionally, the paper describes navigation test methods that are near ballot and docking test methods being designed for consideration within F45.02. This includes the use of low cost artifacts that can provide alternatives to using relatively expensive measurement systems.
Proceedings Title
SPIE 2016
Conference Dates
April 17-21, 2016
Conference Location
Baltimore, MD, US


mobile manipulator, reproducible performance, smart manufacturing, ground truth, test methods, artifact


Bostelman, R. and Hong, T. (2016), Mobile Robot and Mobile Manipulator Research Towards ASTM F45 Standards Developments, SPIE 2016, Baltimore, MD, US, [online], (Accessed May 19, 2024)


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Created April 20, 2016, Updated April 1, 2022