Centralised versus Decentralised Control Reconfiguration for Collaborating Underwater Robots.

Lidia Furno, Mikkel Cornelius Nielsen, Mogens Blanke

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Abstract

The present paper introduces an approach to fault-tolerant reconfiguration for collaborating underwater robots. Fault-tolerant reconfiguration is obtained using the virtual actuator approach, Steen (2005). The paper investigates properties of a centralised versus a decentralised implementation and assesses the capabilities under communication constraints between the individual robots. In the centralised case, each robot sends information related to its own status to a unique virtual actuator that computes the necessary reconfiguration. In the decentralised case, each robot is equipped with its own virtual actuator that is able to accommodate both local faults and faults within a collaborating unit. The paper discusses how this is done through exploiting structural information (e.g. thruster configuration) for each participant in the cooperation. A test scenario is presented as a case in which an underwater drill needs to be transported and positioned by three collaborating robots as part of an underwater autonomous operation.
Original languageEnglish
Title of host publicationProceedings of 9th IFAC Symposium on Fault Detection, Supervision and Safety for Technical Processes.
PublisherElsevier
Publication date2015
Pages732–739
DOIs
Publication statusPublished - 2015
EventIFAC Safeprocess'15 - Paris, France
Duration: 2 Sep 20154 Sep 2015

Conference

ConferenceIFAC Safeprocess'15
CountryFrance
CityParis
Period02/09/201504/09/2015
SeriesIFAC Proceedings Volumes (IFAC-PapersOnline)
ISSN1474-6670

Keywords

  • Collaborating robots
  • Underwater robotics
  • Fault tolerance control
  • Actuator fault
  • Reconfiguration
  • Decentralised system

Cite this

Furno, L., Nielsen, M. C., & Blanke, M. (2015). Centralised versus Decentralised Control Reconfiguration for Collaborating Underwater Robots. In Proceedings of 9th IFAC Symposium on Fault Detection, Supervision and Safety for Technical Processes. (pp. 732–739). Elsevier. IFAC Proceedings Volumes (IFAC-PapersOnline) https://doi.org/10.1016/j.ifacol.2015.09.614