Layered architecture for fault detection and isolation in cooperative mobile robots

Rodrigo A. Carrasco, Aldo Cipriano

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

1 Scopus citations

Abstract

This work presents an architecture that can help to increase the reliability in groups of cooperative mobile robots by taking advantage of analytical and sensor redundancy. First, the design of the architecture is portrayed and the faults to be detected are described. The different layers of the system are then explained and analyzed, using simulations to test their capabilities and limitations. Finally, the architecture is implemented on a group of small mobile robots to validate the results of the simulations.

Original languageEnglish
Title of host publication2007 European Control Conference, ECC 2007
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2950-2955
Number of pages6
ISBN (Electronic)9783952417386
DOIs
StatePublished - 2007
Event2007 9th European Control Conference, ECC 2007 - Kos, Greece
Duration: 2 Jul 20075 Jul 2007

Publication series

Name2007 European Control Conference, ECC 2007

Conference

Conference2007 9th European Control Conference, ECC 2007
Country/TerritoryGreece
CityKos
Period2/07/075/07/07

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