The purpose of this paper is twofold. The rst purpose is to present important issues in designing fault tolerant systems for autonomous robots. The second, is to present the fault tolerance capabilities we implemented on our autonomous robot. Our approach i s c haracterized by a distributed network of concurrently running processes.To tolerate hardware failures, a set of fault tolerance processes are written for each component. These processes are responsible for detecting faults in their respective component, and minimizing the impact of the failure on the robot's performance. By exploiting concurrency and distributedness, the system monitors, detects, and compensates for component failures silmultaneously. The capabilities of this system have been tested by p h ysically disabling and enabling the robot's sensors and actuators. The system quickly recognizes and compensates for both minor and severe sensor and actuator failures. It tolerates a variety of sensor failures such as decalibration, erroneous readings, and permanent failures. It also tolerates various combinations of failures such a s individual failures, concurrent failures, and accumulative failures. We hope this work will inspire further research in fault tolerant a u t o n o m y.
The purpose of this paper is twofold. First, we outline important issues in designing real-time controllers for robots with numerous sensors, actuators, and behaviors. We address these issues by implementing a behavior based controller on a sophisticated autonomous robot. Hence, this work provides a point of reference for the scalability, ease of design, and e ectiveness of the behavior based control for complex robots.Second, we explore the viability of using cooperation among local controllers to achieve coherent global behavior. Our approach is to decompose a di cult control task for a complex robot into a multitude of simpler control tasks for robotic subsystems. We illustrate and examine the e ectiveness of this approach via rough terrain locomotion using an autonomous hexapod robot. Traversing rough terrain is a good task to test the viability of this approach because it requires a considerable amount of leg coordination.We found that implementing a complicated global control task with cooperating local controllers can e ectively control complex robots.
This paper explores the viability of using cooperation among local controllers to achieve coherent global behavior. o u r approach is to decompose a dificult control task for a complex robot into a multitude of simpler control tasks f o r robotic subsystems. W e illustrate and examine the effectiveness of this approach via rough terrain locomotion using an autonomous hexapod robot. TTaVeTSing rough terrain is a good task to test the viability of this approach because it requires a considerable amount of leg coordination. W e found that implementing a complicated global task with cooperating local controllers can effectively control complex robots. Keywords LEGGED ROBOT-ROUGH TERRAIN LOCOMOTION-GLOBAL BEHAVIOR FROM LOCAL CONTROL* Multiple small obstacles: This terrain causes the robot's legs to encounter obstacles concurrently. It tests the robot's ability to handle local terrain features simultaneously.Crevice: This terrain causes the robot's legs to sequentially step over a gap. It tests the ability of the legs t o address hazards in rapid succession.* Small object on plateau: This terrain causes the robot to handle different types of chdlenges. It tests the robot's ability to coordinate obstacle avoidance which the legs perform individually, and hazard avoidance, which the legs perform this as a team.
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