Diagnostic Requirements in Multi-robot Systems

Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 230)

Abstract

The paper presents a generic robot control architecture facilitating the collection of data for the purpose of diagnostics. Each robot within the system is treated as an embodied agent composed of effectors, receptors and a control system. Its behaviour is described in terms of transition functions and: initial, terminal and error conditions. Data within such systems can be collected at the control system sampling rate, thus both continuous monitoring and event driven one are possible.

Keywords

robot control architecture robot programming 

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Copyright information

© Springer-Verlag Berlin Heidelberg 2014

Authors and Affiliations

  1. 1.Institute of Control and Computation Engineering, Faculty of Electronics and Information TechnologyWarsaw University of TechnologyWarsawPoland

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