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

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

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Sensor-based coverage problems have many applications such as patrolling, search-rescue, and surveillance. Using multi-robot team increases efficiency by reducing completion time of a sensor-based coverage task. Robustness to robot failures is another advantage of using multiple robots for coverage....

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Main Authors: Metin Ozkan, Gokhan Kirlik, Osman Parlaktuna, Alpaslan Yufka, Ahmet Yazici
Format: Article
Language:English
Published: SAGE Publishing 2010-03-01
Series:International Journal of Advanced Robotic Systems
Online Access:https://doi.org/10.5772/7252
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spelling doaj-64a666b5981c4bc58b678ba5211211d42020-11-25T03:27:18ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142010-03-01710.5772/725210.5772_7252A Multi-Robot Control Architecture for Fault-Tolerant Sensor-Based CoverageMetin Ozkan0Gokhan Kirlik1Osman Parlaktuna2Alpaslan Yufka3Ahmet Yazici4Department of Computer Engineering, Eskisehir Osmangazi University, Eskisehir, TurkeyDepartment of Industrial Engineering, Eskisehir Osmangazi University, Eskisehir, TurkeyDepartment of Electrical&Electronics Engineering, Eskisehir Osmangazi University, Eskisehir, TurkeyDepartment of Electrical&Electronics Engineering, Eskisehir Osmangazi University, Eskisehir, TurkeyDepartment of Computer Engineering, Eskisehir Osmangazi University, Eskisehir, TurkeySensor-based coverage problems have many applications such as patrolling, search-rescue, and surveillance. Using multi-robot team increases efficiency by reducing completion time of a sensor-based coverage task. Robustness to robot failures is another advantage of using multiple robots for coverage. Although there are many works to increase the efficiency of coverage methods, there are few works related to robot failures in the literature. In this paper, fault-tolerant control architecture is proposed for sensor-based coverage. Robot failures are detected using the heartbeat strategy. To show the effectiveness of the proposed approach, experiments are conducted using P3-DX mobile robots both in laboratory and simulation environment.https://doi.org/10.5772/7252
collection DOAJ
language English
format Article
sources DOAJ
author Metin Ozkan
Gokhan Kirlik
Osman Parlaktuna
Alpaslan Yufka
Ahmet Yazici
spellingShingle Metin Ozkan
Gokhan Kirlik
Osman Parlaktuna
Alpaslan Yufka
Ahmet Yazici
A Multi-Robot Control Architecture for Fault-Tolerant Sensor-Based Coverage
International Journal of Advanced Robotic Systems
author_facet Metin Ozkan
Gokhan Kirlik
Osman Parlaktuna
Alpaslan Yufka
Ahmet Yazici
author_sort Metin Ozkan
title A Multi-Robot Control Architecture for Fault-Tolerant Sensor-Based Coverage
title_short A Multi-Robot Control Architecture for Fault-Tolerant Sensor-Based Coverage
title_full A Multi-Robot Control Architecture for Fault-Tolerant Sensor-Based Coverage
title_fullStr A Multi-Robot Control Architecture for Fault-Tolerant Sensor-Based Coverage
title_full_unstemmed A Multi-Robot Control Architecture for Fault-Tolerant Sensor-Based Coverage
title_sort multi-robot control architecture for fault-tolerant sensor-based coverage
publisher SAGE Publishing
series International Journal of Advanced Robotic Systems
issn 1729-8814
publishDate 2010-03-01
description Sensor-based coverage problems have many applications such as patrolling, search-rescue, and surveillance. Using multi-robot team increases efficiency by reducing completion time of a sensor-based coverage task. Robustness to robot failures is another advantage of using multiple robots for coverage. Although there are many works to increase the efficiency of coverage methods, there are few works related to robot failures in the literature. In this paper, fault-tolerant control architecture is proposed for sensor-based coverage. Robot failures are detected using the heartbeat strategy. To show the effectiveness of the proposed approach, experiments are conducted using P3-DX mobile robots both in laboratory and simulation environment.
url https://doi.org/10.5772/7252
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