Agent Fault-Tolerant Strategy in a Heterogeneous Triangular Formation
| Autor: | Joao Vitor R. Vasconcelos, Daniel K. D. Villa, Alexandre G. Caldeira, Alexandre Santos Brandao, Mario Sarcinelli-Filho |
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| Rok vydání: | 2020 |
| Předmět: |
0209 industrial biotechnology
Computer science Distributed computing 0211 other engineering and technologies Stability (learning theory) Fault tolerance 02 engineering and technology Fault (power engineering) 020901 industrial engineering & automation Video tracking 021105 building & construction Robot Motion planning Virtual structure Focus (optics) |
| Zdroj: | 2020 International Conference on Unmanned Aircraft Systems (ICUAS). |
| Popis: | Heterogeneous formations are widely used in co-operation between Unmanned Ground Vehicles (UGVs) and Unmanned Aerial Vehicles (UAVs), like object tracking, load transportation, path planning, and inspection missions. The focus of this work is inspection systems involving long distances, which are susceptible to failures, which may come from the environment, communication, robot infrastructure and so on. Aiming at the efficiency, stability, and security of an inspection involving UGVs and UAVs, we propose fault-tolerant strategies using a triangular-shaped virtual structure. Two specific types of failures are addressed: battery discharge of the UAV and communication or mechanical failure of the UGV. A fault-tolerant strategy is proposed for each type of fault and experiments were carried out to validate the methodology presented through cooperation among the robots: Pioneer3DX, AR.Drone 2.0 and Bebop 2. |
| Databáze: | OpenAIRE |
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