Performance measures of agility for mobile robots

Abstract

Agility refers to a system's ability to change some aspect of its current situation. For example, consider agile manufacturing which concerns the ability to change a particular manufacturing setup from one product to another without much downtime [3, 8, 25]. In aeronautics, several scalar metrics have been proposed for aircraft agility which together measure an aircraft's ability to change its speed and direction [21, 1, 2].