Modelling of redundancy in multiple mobile robots

Author

Michaelson, Dennis G. ; Jiang, Jin

Author_Institution

Dept. of Electr. & Comput. Eng., Univ. of Western Ontario, London, Ont., Canada

Volume

2

fYear

2000

fDate

2000

Firstpage

1083

Abstract

A model of redundant systems of multiple mobile robots is developed. This model permits the analysis of the overall system reliability and fault-tolerance capability. Static and dynamic redundancy in a multiple robot system applied to box pushing tasks are defined, and examples of redundant geometric configurations are presented. The model and definition facilitate the analysis of different controller configurations in the presence of faults in individual robots, with the goal being the design of controllers which take advantage of the potential reliability increase provided by groups of mobile robots over single robots

Keywords

fault tolerance; mobile robots; multi-robot systems; redundancy; box pushing tasks; controller configurations; dynamic redundancy; multiple mobile robots; redundant geometric configurations; redundant systems; static redundancy; Control systems; Fault tolerance; Fault tolerant systems; Mobile communication; Mobile robots; Nonlinear control systems; Payloads; Redundancy; Reliability; Robot sensing systems;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 2000. Proceedings of the 2000

Conference_Location

Chicago, IL

ISSN

0743-1619

Print_ISBN

0-7803-5519-9

Type

conf

DOI

10.1109/ACC.2000.876667

Filename

876667