Fault Tolerant Autonomous Robots Using Mission Performance Guided Resources Allocation
Résumé
Real long-term, complex and autonomous mission is still a challenge for robotics. This paper presents an efficient approach enhancing the robot with fault tolerance. It uses performance viewpoints to guide hardware and software resources allocation all along the mission according to faults effects and detection. Simulated and experimental results are proposed and analyzed.
Domaines
Automatique / Robotique| Origine | Fichiers éditeurs autorisés sur une archive ouverte |
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