A fault-tolerant control algorithm having a decentralized autonomous architecture for space hyper-redundant manipulators

Kimura, Shinichi; Takahashi, Masato; Okuyama, Toshiyuki; Tsuchiya, Shigeru; Suzuki, Yoshiaki

doi:10.1109/3468.686714

Cited by 43 publications

(20 citation statements)

References 18 publications

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“…Similarly, the Petri Net controller in [19] disregards robot repairs. Finally, the control architectures presented in [20,21] handle only robot failures.…”

Section: Introductionmentioning

confidence: 99%

Automata-based Supervisory Controller for a Mobile Robot Team

Tsalatsanis

Yalçin

Valavanis

2006

2006 IEEE 3rd Latin American Robotics Symposium

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Finite state automata are used as a modeling tool to derive and design a supervisory controller to coordinate and monitor collective and individual member functionality (behavior) of a mobile robot team, considering real-time robot sensor failures and repairs. The proposed supervisory control model is composed of a high level controller and a set of supervisory control modules. The high level controller activates the appropriate supervisor that redistributes task assignments to the robots in case of resource failures and repairs. The set of individual supervisory control modules (supervisors) all observe the activities of the robots and only the active supervisor provides control feedback to the robot team. The controller design accommodates flexibility in tasks assignment, robot cooperation, task prioritization and sequencing to accomplish a set of objectives. A team of mobile robots patrolling a warehouse is used as an example to demonstrate implementation aspects of the proposed supervisory controller.

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“…Similarly, the Petri Net controller in [19] disregards robot repairs. Finally, the control architectures presented in [20,21] handle only robot failures.…”

Section: Introductionmentioning

confidence: 99%

Automata-based Supervisory Controller for a Mobile Robot Team

Tsalatsanis

Yalçin

Valavanis

2006

2006 IEEE 3rd Latin American Robotics Symposium

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“…A decentralised autonomous control algorithm using parallel processing with low-performance processors was developed to control hyper-redundant manipulators [167]. The system is thus able to position itself correctly even if some joints are blocked.…”

Section: Trl Reference Reasoningmentioning

confidence: 99%

Self-healing and self-repairing technologies

Frei

McWilliam

Derrick

et al. 2013

Int J Adv Manuf Technol

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This article reviews the existing work in selfhealing and self-repairing technologies, including work in software engineering, materials, mechanics, electronics, MEMS, self-reconfigurable robotics, and others. It suggests a terminology and taxonomy for self-healing and selfrepair, and discusses the various related types of other self-* properties. The mechanisms and methods leading to selfhealing are reviewed, and common elements across disciplines are identified.

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“…Similarly, the Petri Net controller in (Jamie et al, 2003) disregards robot repairs. Finally, the control architecture presented in (Kimura et al, 1998) 3. Development of a fuzzy logic based utility function to quantify the ability of a robot to perform a set of tasks.…”

Section: Related Literaturementioning

confidence: 99%