A Fault Tolerant Control Architecture Based on Fault Trees for an Underwater Robot Executing Transect Missions
| العنوان: | A Fault Tolerant Control Architecture Based on Fault Trees for an Underwater Robot Executing Transect Missions |
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| المؤلفون: | Karen Godary-Dejean, Adrien Hereau, Didier Crestani, Jérémie Guiochet |
| المساهمون: | Robotique mobile pour l'exploration de l'environnement (EXPLORE), Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS), Équipe Tolérance aux fautes et Sûreté de Fonctionnement informatique (LAAS-TSF), Laboratoire d'analyse et d'architecture des systèmes (LAAS), Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT)-Université de Toulouse (UT)-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Université de Toulouse (UT)-Institut National des Sciences Appliquées (INSA)-Université Toulouse - Jean Jaurès (UT2J), Université de Toulouse (UT)-Université Toulouse III - Paul Sabatier (UT3), Université de Toulouse (UT)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université de Toulouse (UT)-Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT), ANR-16-IDEX-0006,MUSE,MUSE(2016), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM), Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées-Université Fédérale Toulouse Midi-Pyrénées-Centre National de la Recherche Scientifique (CNRS)-Université Toulouse III - Paul Sabatier (UT3), Université Fédérale Toulouse Midi-Pyrénées-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université Fédérale Toulouse Midi-Pyrénées-Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées |
| المصدر: | ICRA ICRA 2021-38th IEEE International Conference on Robotics and Automation ICRA 2021-38th IEEE International Conference on Robotics and Automation, May 2021, Xi’an, China. pp.2127-2133, ⟨10.1109/ICRA48506.2021.9561735⟩ International Conference on Robotics and Automation (ICRA 2021) International Conference on Robotics and Automation (ICRA 2021), May 2021, Xi’an (virtual), China. ⟨10.1109/ICRA48506.2021.9561735⟩ |
| بيانات النشر: | IEEE, 2021. |
| سنة النشر: | 2021 |
| مصطلحات موضوعية: | Fault tree analysis, 0209 industrial biotechnology, Computer science, business.industry, Reliability (computer networking), Real-time computing, Location awareness, Fault tolerance, 02 engineering and technology, computer.software_genre, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Set (abstract data type), [INFO.INFO-PF]Computer Science [cs]/Performance [cs.PF], 020901 industrial engineering & automation, Software, Architecture, business, computer, Energy (signal processing) |
| الوصف: | International audience; Robotic systems evolving in hazardous and harsh environment are prone to mission failure or system loss in presence of faults. This paper presents a fault tolerant methodology, implemented into a control architecture of an underwater robot that executes biological monitoring missions. High level constraint violations (mission, safety, energy, time and localization) and low level faults (software and hardware faults) are considered using a method based on fault trees. These undesirable events are detected and treated by a fault tolerant module that decides to recover at low level or to give a feedback to the mission manager which selects the high level reaction. This fault tolerant architecture has been tested on real field conditions, and we illustrate our methodology on a set of selected events. We conclude about reliability improvement of low cost underwater robots for complex and long missions. |
| URL الوصول: | https://explore.openaire.eu/search/publication?articleId=doi_dedup___::d8b7c500ba8e915556fc1a69301759cb https://doi.org/10.1109/icra48506.2021.9561735 |
| حقوق: | OPEN |
| رقم الأكسشن: | edsair.doi.dedup.....d8b7c500ba8e915556fc1a69301759cb |
| قاعدة البيانات: | OpenAIRE |
| الوصف غير متاح. |