scholarly journals Distributed Fault-Tolerant Robot Control Architecture Based on Organic Computing Principles

2008 ◽  
pp. 115-124 ◽  
Author(s):  
Adam Auf ◽  
Marek Litza ◽  
Erik Maehle
Keyword(s):  
Robot Control ◽  
Fault Tolerant ◽  
Control Architecture ◽  
Organic Computing

scholarly journals A Multi-Robot Control Architecture for Fault-Tolerant Sensor-Based Coverage

10.5772/7252 ◽  
2010 ◽  
Vol 7 (1) ◽  
pp. 4 ◽  
Author(s):  
Metin Ozkan ◽  
Gokhan Kirlik ◽  
Osman Parlaktuna ◽  
Alpaslan Yufka ◽  
Ahmet Yazici
Keyword(s):  
Robot Control ◽  
Fault Tolerant ◽  
Control Architecture ◽  
Multi Robot

scholarly journals Open Modular Robot Control Architecture for Assembly Using the Task Frame Formalism

10.5772/5763 ◽  
2006 ◽  
Vol 3 (1) ◽  
pp. 2 ◽  
Author(s):  
Jochen Maaß ◽  
Nnamdi Kohn ◽  
Jürgen Hesselbach
Keyword(s):  
Robot Control ◽  
Control Architecture ◽  
Modular Robot

scholarly journals Gremlins: an Architectural Framework for Reconfigurable Autonomous Robots

2021 ◽  
Author(s):  
James Gaston
Keyword(s):  
Control System ◽  
Communication System ◽  
Communication Systems ◽  
Autonomous Robots ◽  
Fault Tolerant ◽  
Failure Detection ◽  
Base Station ◽  
Communication Strategy ◽  
Stair Climbing ◽  
Control Architecture

The work area of a team of small robots is limited by their inability to traverse a very common obstacle: stairs. We present a complete integrated control architecture and communication strategy for a system of reconfigurable robots that can climb stairs. A modular robot design is presented which allows the robots to dynamically reconfigure to traverse certain obstacles. This thesis investigates the implementation of a system of autonomous robots which can cooperatively reconfigure themselves to collectively travers obstacle such as stairs. We present a complete behaviorand communication system which facilitates this autonomous reconfiguration. The layered behavior-based control system is fault-tolerant and extends the capabilities of a control architecture known as ALLIANCE. Behavior classes are introduced as mechanism for managing ordering dependencies and monitoring a robot's progress through a particular task. The communication system compliments the behavioral control and iimplementsinherent robot failure detection without the need for a base station or external monitor. The behavior and communication systems are validated by implementing them ona mobile robot platform synthesized specifically for this research. Experimental trials showed that the implementation of the behavior control systems was successful. The control system provided robust, fault-tolerant performance even when robots failed to perform docking tasks while recongifuring. Once the robots reconfigure to form a chain, a different control scheme based on gait control tables coordinates the individual movements of the robots. Several successful stair climbing trials were accomplished. Improvements to the mechanical design are proposed.

Integrated Anti-Windup Fault-Tolerant Control Architecture for Optimized Satellite Attitude Stabilization

2021 ◽  
pp. 1-1
Author(s):  
Ikechukwu Ofodile ◽  
Nkemdilim Ofodile-Keku ◽  
Paul Jemitola ◽  
Gholamreza Anbarjafari ◽  
Andris Slavinskis
Keyword(s):  
Fault Tolerant ◽  
Fault Tolerant Control ◽  
Control Architecture ◽  
Attitude Stabilization ◽  
Satellite Attitude

scholarly journals Combining Dense Structure from Motion and Visual SLAM in a Behavior-Based Robot Control Architecture

10.5772/7240 ◽  
2010 ◽  
Vol 7 (1) ◽  
pp. 7 ◽  
Author(s):  
Geert De Cubber ◽  
Sid Ahmed Berrabah ◽  
Daniela Doroftei ◽  
Yvan Baudoin ◽  
Hichem Sahli
Keyword(s):  
Structure From Motion ◽  
Robot Control ◽  
Control Architecture ◽  
Visual Slam ◽  
Dense Structure ◽  
Behavior Based

On a primitive skill-based supervisory robot control architecture

2005 ◽  
Author(s):  
G. Milighetti ◽  
H.-B. Kuntze ◽  
C.W. Frey ◽  
B. Diestel-Feddersen ◽  
J. Balzer
Keyword(s):  
Robot Control ◽  
Control Architecture
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