Layered architecture for fault detection and isolation in cooperative mobile robots

dc.contributor.authorCarrasco Schmidt, Rodrigo Arnaldo
dc.contributor.authorCipriano, Aldo
dc.date.accessioned2022-05-16T13:00:26Z
dc.date.available2022-05-16T13:00:26Z
dc.date.issued2007
dc.description.abstractThis work presents an architecture that can help to increase the reliability in groups of cooperative mobile robots by taking advantage of analytical and sensor redundancy. First, the design of the architecture is portrayed and the faults to be detected are described. The different layers of the system are then explained and analyzed, using simulations to test their capabilities and limitations. Finally, the architecture is implemented on a group of small mobile robots to validate the results of the simulations.
dc.fuente.origenIEEE
dc.identifier.doi10.23919/ECC.2007.7068892
dc.identifier.isbn9783952417386
dc.identifier.urihttps://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=7068892
dc.identifier.urihttps://doi.org/10.23919/ECC.2007.7068892
dc.identifier.urihttps://repositorio.uc.cl/handle/11534/63918
dc.information.autorucEscuela de ingeniería ; Carrasco Schmidt, Rodrigo Arnaldo ; S/I ; 5494
dc.information.autorucEscuela de ingeniería ; Cipriano Zamorano, Aldo ; S/I ; 99102
dc.language.isoen
dc.nota.accesoContenido parcial
dc.pagina.final2955
dc.pagina.inicio2950
dc.publisherIEEE
dc.relation.ispartofEuropean Control Conference (ECC) (2007 : Kos, Grecia)
dc.rightsacceso restringido
dc.subjectRobot sensing systems
dc.subjectMobile robots
dc.subjectWheels
dc.subjectRobot kinematics
dc.subjectMathematical model
dc.subjectFault detection
dc.titleLayered architecture for fault detection and isolation in cooperative mobile robotses_ES
dc.typecomunicación de congreso
sipa.codpersvinculados5494
sipa.codpersvinculados99102
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