Fault-tolerant distributed algorithms and realistic models for groups of autonomous mobile robots

自主移动机器人组的容错分布式算法和现实模型

• 批准号: 23500060
• 负责人: DEFAGO Xavier
• 金额: $ 2.5万
• 依托单位: Japan Advanced Institute of Science and Technology
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (C)
• 财政年份: 2011
• 资助国家: 日本
• 起止时间: 2011 至 2013
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-23500060/
• 关键词: 分散アルゴリズム; 分散システム; ロボット群; モデル化; 合意問題; 自己安定; センサーネットワーク; 国際情報交換

This research aims at improving the development of fault-tolerant and reliable multi-robots systems. In particular, this includes relating formal models developed in the field of fault-tolerant distributed systems to the problem of mobile robot coordination. The purpose of such a model is to study the correctness of algorithms and identify the minimum capabilities (i.e., set of sensors) that the individual robots must have in order to reliably solve a given problem as a group. At the same time, it is essential that both model and problem be practically accurate so that results are directly applicable to real systems.In particular, we have obtained important results for several problems, among which,(1) gathering of robots when some robots or their sensors may fail, (2) exploration of a discrete environment, (3) motion planning of multiple-robots, and (4) cascading failures in large systems.

本研究旨在促进容错可靠多机器人系统的发展。特别是，这包括将容错分布式系统领域中开发的形式化模型与移动机器人协调问题联系起来。这种模型的目的是研究算法的正确性，并确定单个机器人为了可靠地解决给定问题而必须具备的最低能力(即，传感器集)。同时，模型和问题的精确度也是至关重要的，这样才能使结果直接适用于实际系统。特别是，我们在几个问题上得到了重要的结果，其中包括：(1)当一些机器人或它们的传感器可能发生故障时机器人的聚集；(2)离散环境的探索；(3)多机器人的运动规划；(4)大系统中的连锁故障。

项目成果

Reaching Group Agreement in Spite of Faulty Robots

尽管机器人存在缺陷仍达成集体协议

• 发表时间: 2013
• 作者: Shunsuke Matsuoka;Naoki Fujieda;Shuichi Ichikawa;Masato Kitakami and Daiki Mamada;X. Defago
• 通讯作者: X. Defago

Making Reliability Modeling of Component-based Systems Usable in Practice

使基于组件的系统的可靠性建模在实践中可用

• 发表时间: 2012
• 作者: T.-T. Pham;Q.-T. Huynh;X. Defago
• 通讯作者: X. Defago

A Taxonomy of Congestion Control Techniques for TCP in Wired and Wireless Networks

有线和无线网络中 TCP 拥塞控制技术的分类

• DOI: 10.1109/iswta.2013.6688758
• 发表时间: 2013
• 期刊: IEEE Symp. on Wireless Technology & Applications (ISWTA)
• 作者: K.C. Lee;X. Defago;Y. Tan;A.O. Lim
• 通讯作者: A.O. Lim

Reliable Micro-protocols Composition and Combination

可靠的微协议组成和组合

• 发表时间: 2012
• 作者: D. Higashihara;X. Defago
• 通讯作者: X. Defago

Making Reliability Modeling ofComponent-based Systems Usable in Practice (fast abstract)

使基于组件的系统的可靠性建模在实践中可用（快速摘要）

• 发表时间: 2012
• 作者: Thanh-Trung Pham;Quyet-Thang Huynh and X. Defago
• 通讯作者: Quyet-Thang Huynh and X. Defago