Title :
Distributed multi-agent diagnosis and recovery from sensor failures
Author :
Long, Matthew T. ; Murphy, Robin R. ; Parker, Lynne E.
Author_Institution :
Dept. of Comput. Sci. & Eng., Univ. of South Florida, Tampa, FL, USA
Abstract :
This paper presents work extending previous research in sensor fault tolerance, classification, and recovery from a single robot to a heterogeneous team of distributed robots. This approach allows teams of robots to share knowledge about the working environment, sensor and task state, to diagnose failures and also communicate to redistribute tasks in the event that a robot becomes inoperable. Our work presents several novel extensions to prior art: distributed fault handling and task management in a dynamic, distributed Java framework. This research was implemented and demonstrated on robots in a lab environment performing a simplified search operation.
Keywords :
Java; distributed programming; distributed sensors; fault diagnosis; fault tolerance; intelligent robots; mobile robots; multi-agent systems; task analysis; classification; diagnose failures; distributed fault handling; distributed multi agent diagnosis; distributed robots; dynamic distributed Java framework; heterogeneous team; recovery; redistribute tasks; search operation; sensor failures; sensor fault tolerance; task management; task state; working environment; Cameras; Computer science; Degradation; Fault diagnosis; Fault tolerance; Robot sensing systems; Robot vision systems; Sensor systems; Switches; System testing;
Conference_Titel :
Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-7860-1
DOI :
10.1109/IROS.2003.1249246
