Title :
System-Theoretic Approach to Safety of Robot Control Architectures
Author :
Barchanski, Jerzy A.
Author_Institution :
Dept. of Comput. Sci., Brock Univ., St. Catharines, Ont.
Abstract :
We introduce at first the system-theoretic approach to complex systems safety analysis and compare it with the traditional approaches. Then we analyze hazards which may face a mobile robot following the three laws of robotics. We focus on hazard of collision with an obstacle and an appropriate robot behavior mitigating this hazard. After reviewing the principal classes of robot control architectures, we evaluate their safety in obstacle avoidance
Keywords :
collision avoidance; large-scale systems; mobile robots; safety; system theory; complex system safety analysis; mobile robot control architectures; obstacle avoidance; system-theoretic approach; Accidents; Computer architecture; Computer science; Control system analysis; Control systems; Failure analysis; Hazards; Mobile robots; Robot control; Safety; control architecture; mobile robot; safety;
Conference_Titel :
Electrical and Computer Engineering, 2006. CCECE '06. Canadian Conference on
Conference_Location :
Ottawa, Ont.
Print_ISBN :
1-4244-0038-4
Electronic_ISBN :
1-4244-0038-4
DOI :
10.1109/CCECE.2006.277588
