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Conference Papers Year : 2020

A hierarchical fault tolerant architecture for an autonomous robot

Abstract

This paper presents a generic approach to specify a fault tolerant robot controller, and its implementation and validation with ROS and Gazebo. The main idea is to implement a fault tolerance strategy using a fault tree and an ordered set of recovery modules. A fault injection campaign has been carried out with a mobile autonomous robot for airport inspection using simulation with Gazebo and ROS. This successful experiment implements a safety-first strategy.
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Dates and versions

hal-02558604 , version 1 (29-04-2020)

Identifiers

Cite

Anthony Favier, Antonin Messioux, Jérémie Guiochet, Jean-Charles Fabre, Charles Lesire. A hierarchical fault tolerant architecture for an autonomous robot. 6th Intern. Workshop on ​Safety and Security of Intelligent Vehicles (SSIV) at IEEE/IFIP Intern. Conf. on Dependable Systems and Networks (DSN), Jun 2020, Valence, Spain. ⟨10.1109/DSN-W50199.2020.00031⟩. ⟨hal-02558604⟩
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