TY - GEN
T1 - Layered architecture for fault detection and isolation in cooperative mobile robots
AU - Carrasco, Rodrigo A.
AU - Cipriano, Aldo
N1 - Publisher Copyright:
© 2007 EUCA.
PY - 2007
Y1 - 2007
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84927747535&partnerID=8YFLogxK
U2 - 10.23919/ecc.2007.7068892
DO - 10.23919/ecc.2007.7068892
M3 - Conference contribution
AN - SCOPUS:84927747535
T3 - 2007 European Control Conference, ECC 2007
SP - 2950
EP - 2955
BT - 2007 European Control Conference, ECC 2007
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2007 9th European Control Conference, ECC 2007
Y2 - 2 July 2007 through 5 July 2007
ER -