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Distributed Cooperative Fault Diagnosis for Internal Electrical Components of Robot System

Hitoshi Kono, Yusuke Tamura, Atsushi Yamashita, Hajime Asama
2015 The Abstracts of the international conference on advanced mechatronics : toward evolutionary fusion of IT and mechatronics : ICAM  
In prior research, we proposed a distributed cooperative fault diagnosis method for internal components of robot system.  ...  In extreme environments, a robot system has a probability of fault. Therefore, considering fault tolerance is important for success of missions.  ...  Acknowledgment This work was funded by Tough Robotics Challenge, Im-PACT Program of the Council for Science, Technology and Innovation (Cabinet Office, Government of Japan).  ... 
doi:10.1299/jsmeicam.2015.6.235 fatcat:hzwkfavsabf35ny73xrmshy5na

A Survey on Decentralized Flocking Schemes for a Set of Autonomous Mobile Robots (Invited Paper)

Naixue Xiong, Jing He, Yan Yang, Yanxiang He, Tai-hoon Kim, Chuan Lin
2010 Journal of Communications  
FAULT TOLERANT FLOCKING Coble and Cook [4] considered the case when robots can communicate between each other by exchanging In this section, we introduced the famous system models messages  ...  to solve fault tolerance in formation while moving.  ... 
doi:10.4304/jcm.5.1.31-38 fatcat:x2z6halqzjctdfczwg22uzppz4

A Multi-Agent System for Distributed Control of Networked Mobile Robots

Liam Cragg, Huosheng Hu
2005 Measurement and control (London. 1968)  
Mobile agent mobility will also be used as a fault tolerance mechanism to retain learnt data despite computer/robot failures.  ...  Fault-tolerant control experiments Fault-tolerant control experiments were used to examine the use of mobile agent mobility to aid in fault-tolerant retention of mission level data in a multiple robot  ...  ALLIANCE, developed by Parker 6 , is a multi-robot architecture for fault-tolerant multiple robot control.  ... 
doi:10.1177/002029400503801004 fatcat:ef4fbc2yx5d2nfgysjklg5d5xq

Implementing ALLIANCE in networked robots using mobile agents

Liam Cragg, Huosheng Hu
2004 IFAC Proceedings Volumes  
In this paper we present two examples to show how such characteristics can be used to extend the adaptability and fault tolerance of a multiple robot architecture.  ...  Mobile Agents (MA's) combine the functionality found in all other distributed computing paradigms in a unified environment and provide a natural design philosophy for distributed computing systems such  ...  They can be used to provide intelligent, dynamic, fault tolerant and scalable distributed systems and reduce network communication.  ... 
doi:10.1016/s1474-6670(17)32005-0 fatcat:fy5ed6huqrb3rik632n6qemgfm

Adding distribution and fault tolerance to jason

Álvaro Fernández Díaz, Clara Benac Earle, Lars-Ake Fredlund
2012 Proceedings of the 2nd edition on Programming systems, languages and applications based on actors, agents, and decentralized control abstractions - AGERE! '12  
In this paper we describe an extension of the multiagent system programming language Jason with constructs for distribution and fault tolerance.  ...  In contrast this paper develops constructs for distribution and fault tolerance wholly integrated in Jason, permitting the Jason programmer to implement complex distributed systems entirely in Jason itself  ...  Experiment 3: inter-container fault tolerance This third experiment tests the performance of the fault tolerance mechanisms when the system is distributed.  ... 
doi:10.1145/2414639.2414651 dblp:conf/agere/DiazEF12 fatcat:ejpvwcg65fagxi7gv2dfeylyli

Adding distribution and fault tolerance to Jason

Á. Fernández-Díaz, C. Benac-Earle, L. Fredlund
2015 Science of Computer Programming  
In this paper we describe an extension of the multiagent system programming language Jason with constructs for distribution and fault tolerance.  ...  In contrast this paper develops constructs for distribution and fault tolerance wholly integrated in Jason, permitting the Jason programmer to implement complex distributed systems entirely in Jason itself  ...  Experiment 3: inter-container fault tolerance This third experiment tests the performance of the fault tolerance mechanisms when the system is distributed.  ... 
doi:10.1016/j.scico.2014.01.007 fatcat:6jkaaidccvbfzdz5h36nje7yki

Safety in numbers: fault-tolerance in robot swarms

Alan F.T. Winfield, Julien Nembrini
2006 International journal of Modeling, identification and control  
This paper explores fault tolerance in robot swarms through Failure Mode and Effect Analysis (FMEA) and reliability modelling.  ...  How would we measure the robustness or -to put it another way -fault tolerance of a robotic swarm? These questions are not just of academic interest.  ...  ACKNOWLEDGMENTS The authors gratefully acknowledge formative discussions with Alcherio Martinoli, Guy Théraulaz, Nicolas Reeves and members of the Swarm-Intelligent Systems (SWIS) Group at EPFL during  ... 
doi:10.1504/ijmic.2006.008645 fatcat:kutlqualkra6ledp3mwyn7lp2i

A distributed robust convergence algorithm for multi-robot systems in the presence of faulty robots

Hyongju Park, Seth Hutchinson
2015 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  
These nonconforming robots correspond to faults in the multirobot systems, and our control policy is thus a fault-tolerant policy.  ...  In this paper, we propose a distributed control policy to achieve rendezvous by a set of robots even when some robots in the system do not follow the prescribed policy.  ...  Section II introduces fault-tolerant multi-robot system model that will be studied in the remainder of the paper.  ... 
doi:10.1109/iros.2015.7353788 dblp:conf/iros/ParkH15 fatcat:ab4zej5eoja65dhci2azilzqey

Distributed Fault-Tolerant Control for Networked Robots in the Presence of Recoverable/Unrecoverable Faults and Reactive Behaviors

Filippo Arrichiello, Alessandro Marino, Francesco Pierri
2017 Frontiers in Robotics and AI  
The paper presents an architecture for distributed control of multi-robot systems with an integrated fault detection, isolation, and recovery strategy.  ...  The proposed solution is based on a distributed observer-controller schema where each robot, by communicating only with its direct neighbors, is able to estimate the overall state of the system; such an  ...  CONCLUSION In this paper, a distributed fault-tolerant control strategy for networked robots was presented.  ... 
doi:10.3389/frobt.2017.00002 fatcat:vbnn6oodaffsfokjulrtam6k64

Reliability and Fault Tolerance in Collective Robot Systems [chapter]

Lynne Parker
2013 Handbook of Collective Robotics  
This is also certainly true for measuring reliability and fault tolerance in intelligent robotic systems.  ...  In other words, robustness can be used to quantify the extent of fault-tolerance in the system.  ... 
doi:10.1201/b14908-8 fatcat:mkg3o3mjefgihgp3ckipqkrzzy

Parallel fault-tolerant robot control

Deirdre L. Hamilton, John K. Bennett, Ian D. Walker, Jon D. Erickson
1992 Cooperative Intelligent Robotics in Space III  
Additionally, with robots being used in environments that are hazardous or inaccessible to humans, fault-tolerant robotic systems are particularly desirable.  ...  A uniprocessor control architecture cannot o er tolerance of processor faults. Use of multiple processors for robot control o ers two a d v antages over single processor systems.  ...  However, in some environments, fault tolerance may be the most important factor in system design. A robot used in space cannot be easily repaired or replaced.  ... 
doi:10.1117/12.131703 fatcat:dvk3omovgvbfjfq456olehwsty

From Fireflies to Fault-Tolerant Swarms of Robots

A.L. Christensen, R. O'Grady, M. Dorigo
2009 IEEE Transactions on Evolutionary Computation  
Although fault tolerance and robustness to individual failures have often been central arguments in favor of multi-robot systems, few studies have been dedicated to the subject.  ...  We derive a completely distributed algorithm to detect non-operational individuals in a multi-robot system.  ...  Exogenous fault detection and fault tolerance in multi-robot systems have been studied in [15, 16, 17, 18, 19] .  ... 
doi:10.1109/tevc.2009.2017516 fatcat:lfm5cnrwr5f2rd2ttbtija6rk4

Fault Detection and Diagnosis in Multi-Robot Systems: A Survey

Eliahu Khalastchi, Meir Kalech
2019 Sensors  
These surveys have focused on the single robot scenario. To the best of our knowledge, there is no survey that focuses on FDD for Multi-Robot Systems (MRS). In this paper we set out to fill this gap.  ...  These faults must be detected and diagnosed in time to allow continual operation. The field of Fault Detection and Diagnosis (FDD) has been studied for many years.  ...  Fault Tolerance in Architecture of MRS In past years, several multi-robot architectures were developed with inherent fault tolerance capability.  ... 
doi:10.3390/s19184019 fatcat:3y4ql2udsjdczdcqukywtcl2fe

Swarm SLAM: Challenges and Perspectives

Miquel Kegeleirs, Giorgio Grisetti, Mauro Birattari
2021 Frontiers in Robotics and AI  
A robot swarm is a decentralized system characterized by locality of sensing and communication, self-organization, and redundancy.  ...  These characteristics allow robot swarms to achieve scalability, flexibility and fault tolerance, properties that are especially valuable in the context of simultaneous localization and mapping (SLAM),  ...  Fault tolerance is still an open issue in swarm SLAM as the most common way to produce a map in a multi-robot system, mapmerging, implies some sort of centralization and hence a single point of failure  ... 
doi:10.3389/frobt.2021.618268 pmid:33816567 pmcid:PMC8010569 fatcat:zvwjpd3opncgfhgntl4v5ro664

A Multi-Robot Control Architecture for Fault-Tolerant Sensor-Based Coverage

Metin Ozkan, Gokhan Kirlik, Osman Parlaktuna, Alpaslan Yufka, Ahmet Yazici
2010 International Journal of Advanced Robotic Systems  
In this paper, fault-tolerant control architecture is proposed for sensor-based coverage. Robot failures are detected using the heartbeat strategy.  ...  In this study, it is assumed that the communication network is fully connected. This assumption results in a polynomial increase of communication delay as the number of robots increases.  ...  Application The proposed fault-tolerant system is coded in C++ and tested using P3-DX robots both in laboratory and MobileSim simulation environments.  ... 
doi:10.5772/7252 fatcat:cfy5ofmml5bzpbo2ffgyydatwy
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