Fault-Tolerance and Error Recovery in an Autonomous Robot with Distributed Controlled Components

Bisimulation conversion and verification procedure for goal-based control systems

“…Several fault tolerant control architectures for autonomous systems have been developed in which the control effort is layered to deal with faults on different levels, including low levels of hardware control and high levels of supervisory control, such as those in Ferrell [19], Visinsky et al [40], and Lueth and Laengle [30]. One fault tolerant control architecture, ALLIANCE, is a behaviorbased control system for multi-robot cooperative tasks [34].…”

Multi-Robot Team Design for Real-World Applications

“…First, several researchers have directly addressed this cooperative robot problem by developing control algorithms and implementing them either on physical robots or on simulations of physical robots that make reasonable assumptions about robot capabilities. Examples of this research include the work of Lueth and Laengle [2], who study the issue of fault-tolerant behavior and error recovery in a distributed control architecture called KAMARA; Noreils [3], who proposes a three-layered control architecture that includes a plmner level, a control level, and a functional level; Caloud et al [4], who describe an architecture that includes a task planner, a task allocator, a motion planner, and an execution monitor; Asama et al [5] who describe an architecture called ACTRESS that utilizes a negotiation framework to allow robots to recruit help when needed; Cohen et al [6], who use a hierarchical division of authority to address the problem of cooperative fire-fighting; Ota et al [7], who describe a mechanism for robot selection of strategies via several tactics; and Wang [8], who proposes the use of several distributed mutual exclusion algorithms that use a "sign-board" for inter-robot communication. Refer to 191 for a more comprehensive review of related work in multi-robot cooperation.…”