Centralised versus Decentralised Control Reconfiguration for Collaborating Underwater Robots.

Lidia Furno; Mikkel Cornelius Nielsen; Mogens Blanke

doi:10.1016/j.ifacol.2015.09.614

Centralised versus Decentralised Control Reconfiguration for Collaborating Underwater Robots.

Lidia Furno, Mikkel Cornelius Nielsen, Mogens Blanke

Norwegian University of Science and Technology

Research output: Chapter in Book/Report/Conference proceeding › Article in proceedings › Research › peer-review

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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 language	English
Title of host publication	Proceedings of 9th IFAC Symposium on Fault Detection, Supervision and Safety for Technical Processes.
Publisher	Elsevier
Publication date	2015
Pages	732–739
DOIs	https://doi.org/10.1016/j.ifacol.2015.09.614
Publication status	Published - 2015
Event	9th IFAC Symposium on Fault Detection, Supervision andSafety for Technical Processes - Arts et Métiers ParisTech, Paris, France Duration: 2 Sept 2015 → 4 Sept 2015 Conference number: 9 https://www.sciencedirect.com/journal/ifac-papersonline/vol/48/issue/21

Conference

Conference	9th IFAC Symposium on Fault Detection, Supervision andSafety for Technical Processes
Number	9
Location	Arts et Métiers ParisTech
Country/Territory	France
City	Paris
Period	02/09/2015 → 04/09/2015
Internet address	https://www.sciencedirect.com/journal/ifac-papersonline/vol/48/issue/21

Series	IFAC Proceedings Volumes (IFAC-PapersOnline)
ISSN	1474-6670

Keywords

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

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title = "Centralised versus Decentralised Control Reconfiguration for Collaborating Underwater Robots.",

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.",

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note = "9th IFAC Symposium on Fault Detection, Supervision andSafety for Technical Processes, SAFEPROCESS 2015 ; Conference date: 02-09-2015 Through 04-09-2015",

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Furno, L, Nielsen, MC & 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. . Elsevier, IFAC Proceedings Volumes (IFAC-PapersOnline) , pp. 732–739, 9th IFAC Symposium on Fault Detection, Supervision andSafety for Technical Processes, Paris, France, 02/09/2015. https://doi.org/10.1016/j.ifacol.2015.09.614

Centralised versus Decentralised Control Reconfiguration for Collaborating Underwater Robots. / Furno, Lidia; Nielsen, Mikkel Cornelius; Blanke, Mogens.
Proceedings of 9th IFAC Symposium on Fault Detection, Supervision and Safety for Technical Processes. . Elsevier, 2015. p. 732–739 (IFAC Proceedings Volumes (IFAC-PapersOnline) ).

Research output: Chapter in Book/Report/Conference proceeding › Article in proceedings › Research › peer-review

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Centralised versus Decentralised Control Reconfiguration for Collaborating Underwater Robots.

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