Distributed control and communication fault tolerance for the CKBot
Distributed control and communication fault tolerance for the CKBot
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发表时间：
2009-06
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通讯作者：
Michael Park;Mark H. Yim
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作者：
Michael Park;Mark H. Yim
在本文中，我们提出了一种模块化机器人系统中的分布式容错方法。我们描述了这种方法在CKBot系统上的实现。特别是，我们向模块广播红外（IR）信号，这些模块协同投票决定大多数行动方案。各种步态选择7模块履带和16模块四足动物与一个错误的红外接收器的子集已被验证，以证明该算法的鲁棒性。最后，我们讨论的容错模式和这种方法的适用性，其他模块化机器人系统的文件。
In this paper we present a method for distributed fault tolerance in a modular robotic system. We describe an implementation of this method on the CKBot system. In particular, we broadcast infrared (IR) signals to modules which collaboratively vote on a majority course of action. Various gait selections for a 7 module caterpillar and a 16 module quadruped with a faulty subset of IR receivers have been verified to demonstrate the algorithm's robustness. We conclude the paper with a discussion of modes of fault tolerances and this method's applicability to other modular robotic systems.