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domain (using the cross-spectral density method).
Outdoor experiments, using RobChair with SM-TT
controller were performed. The experimental tests
presented in this paper are representative of the av-
erage performance of the controllers. We had sum-
marized our acquired experience in general observa-
tions that can be useful guidelines for implementation
of the same control strategies in other type of mobile
robots.
ACKNOWLEDGEMENTS
This work was supported in part by ISR-
Coimbra and Portuguese Technology and Sci-
ence Foundation (FCT), under contract NCT04:
POSC/EEA/SRI/58016/2004. R.Solea acknowledges
a PhD research fellowship from FCT.
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