Abstract
Most of the existing autonomous robot systems have a centralized hierarchical control architecture. In such robot systems, all planning, execution control, and monitoring tasks are performed by a single control unit on a defined level. In case of an error that occurs during the execution, this central control unit has the complete knowledge about the past executed actions and is able to reason on the error situation. Besides the centralized control architectures, distributed and decentralized control architectures have been developed to overcome some problems with the centralized systems. Because of the missing overall control, error recovery is more difficult than in centralized systems. This paper presents concepts to obtain fault-tolerance behaviour and error recovery in a distributed controlled robot system. As an example for such a robot system, the Karlsruhe Autonomous Mobile Robot KAMRO is considered that is being developed at IPR. Many experiments were performed with the former centralized control architecture. Our intention is to achieve the same and better results with the distributed control architecture KAMARA.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
Similar content being viewed by others
References
Albus, LS., Barbera, AJ., Nagel, R.N.: Theory and practice of hierarchical control. Proceedings of IEEE Comp. Soc. Int. Conf., 1981, pp. 18–39.
Fukuda, T.; Buss, M.; Hosokai, H.; Kawauchi, Y.: Cell Structured Robotic System CEBOT — Control, Planning and Communication Methods-. Proceedings of IAS Intelligent Autonomous Systems, Amsterdam, December, 11–14, 1989, pp. 661–671.
Asama, H.; Ozaki, K.; Ishida, Y.; Habib, M.K., Matsumoto, A.; Endo, I.: Negotiation between Multiple Mobile Robots and An Environment Manager. Proceedings of 5th ICAR Int. Conf. on Advanced Robotics, Pisa, Italy, June, 4–6, 1991, pp. 533–538.
Kotoska, S.; Asama, H.; Kaetsu, H.; Ohmori, H.; Endo, I.; Sato, K.; Okada, S.; Nakayama, R.: Development of a functionally adaptive and robust manipulator. Proceedings of DARS Int. Symp. on Distributed Autonomous Robotic System, Wako, Japan, Sep. 21–22, 1992, pp. 85–90.
Hörmann, K.; Rembold, U.: A Robot Action Planner for Automatic Parts Assembly. Proceedings of IEEE/RSJ Int’l Workshop on Intelligent Robots and Systems, Tokyo, Japan, 1988, pp. 311–317.
Frommherz, B.; Werling, G.: Generating Robot Action Plans by Means of an Heuristic Search. Proceedings of IEEE Int. Conf. on Robotics and Automation, Cincinnati, Ohio, May 13–18, 1990, pp. 884–889.
Hörmann, A.; Meier, W.; Schloen, J.: A Control Architecture for an Advanced Fault-Tolerant Robot System. Proceedings of Intelligent Autonomous Systems, Amsterdam, December, 11–14, 1989, pp. 576–585.
Cheng, X.; Kappey, D.; Schloen, J.: Elements of an Advanced Robot Control System for Assembly Tasks. Proceedings of Int’l Conf. on Advanced Robotics, Pisa, Italy, June, 4–6, 1991, pp. 411–416.
Hörmann, A.; Rembold, U.: Development of an Advanced Robot for Autonomous Assembly. Proceedings of IEEE Int. Conf. on Robotics and Automation, Sacramento, California, April 1991, pp. 2452–2457.
Lueth, T.C.; Rembold, U.: Extensive Manipulation Capabilities and Reliable Behavior at Autononomous Robot Assembly. Proceedings of IEEE Int. Conf. on Robotics and Automation, San Diego, CA, May 8–13,1994, pp. 3495–3500.
Lueth, T.C.; Laengle, Th.: Task Description, Decomposition, and Allocation in a Distributed Autonomous Multi-Agent Robot System. Proceedings of IROS IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Munich, Germany, Sep. 12–16, 1994, pp. to appear.
Trevelyan, J.P, Nelson, M.: Adaptive robot control incorporating automatic error recovery. Proceedings of IInternational Conference on Advanced Robotics, 1987
Srinivas, S: Error recovery in robot systems. PhD Theses, California Institute of Technology, 1977
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 1994 Springer-Verlag Tokyo
About this paper
Cite this paper
Lueth, T.C., Laengle, T. (1994). Fault-Tolerance and Error Recovery in an Autonomous Robot with Distributed Controlled Components. In: Asama, H., Fukuda, T., Arai, T., Endo, I. (eds) Distributed Autonomous Robotic Systems. Springer, Tokyo. https://doi.org/10.1007/978-4-431-68275-2_5
Download citation
DOI: https://doi.org/10.1007/978-4-431-68275-2_5
Publisher Name: Springer, Tokyo
Print ISBN: 978-4-431-68277-6
Online ISBN: 978-4-431-68275-2
eBook Packages: Springer Book Archive