A Recovery Method for the Robotic Decentralized Control System with Performance Redundancy

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• 关键词：Decentralized control system ; Robustness ; Fault ; tolerance ; Simulated annealing ; Autonomous robots control
• 刊名：Lecture Notes in Computer Science
• 出版年：2016
• 出版时间：2016
• 年：2016
• 卷：9812
• 期：1
• 页码：9-17
• 全文大小：1,056 KB
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• 作者单位：Iakov Korovin (16)
  Eduard Melnik (17)
  Anna Klimenko (18)
  
  16. Southern Federal University, Rostov-on-Don, Russia
  17. Southern Scientific Center of the Russian Academy of Sciences (SSC RAS), Rostov-on-Don, Russia
  18. Scientific Research Institute of Multiprocessor Computing Systems, Southern Federal University, Taganrog, Russia
  
• 丛书名：Interactive Collaborative Robotics
• ISBN：978-3-319-43955-6
• 刊物类别：Computer Science
• 刊物主题：Artificial Intelligence and Robotics
  Computer Communication Networks
  Software Engineering
  Data Encryption
  Database Management
  Computation by Abstract Devices
  Algorithm Analysis and Problem Complexity
  
• 出版者：Springer Berlin / Heidelberg
• ISSN：1611-3349
• 卷排序：9812

文摘

The fault of the robotic control system is critical and leads to the general system failure, while autonomous robots have to gain their aims without any maintenance. Contemporary academic studies propose decentralized control systems as prospective from the robustness point of view. On the other hand, a performance redundancy allows to optimize resource utilization and improve the fault-tolerance potential of the control system. This paper is devoted to the recovery method of the robotic decentralized control system with performance redundancy. A reconfiguration problem has been formalized, decentralized method of the solution obtaining is represented. Also some simulation results are given and discussed.