Adaptive autonomy: a suggestion for the definition of the notation 'autonomy' in mobile robotics

Autonomy is a very important topic in the current research on mobile robotics (R. Arkin, 2001). Meanwhile, there is not only interest in the autonomy of a single robot, but also in the autonomy of robot swarms. Experiences made at Ilmenau Technical University during several robotic projects (T. Pfutzenreuter, 2003), (M. Eichhorn, 2004), (T. Glotzbach, 2003) showed that a problem arises concerning the meaning of 'autonomy'. Since there is no clear definition about what a robot has to achieve to be called 'autonomous', this term is used in very different situations. This paper gives an overview of the different aspects of 'autonomy' of robots and robot swarms. Adapted from experiments accomplished in simulation, a suggestion is made for a possible definition of the term 'autonomy' that can be used as a basis for discussions.