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Distributed Autonomous Robotic Systems pp 41–49Cite as

Fault-Tolerance and Error Recovery in an Autonomous Robot with Distributed Controlled Components

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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.

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Authors and Affiliations

  1. Inst. for Real-Time Computer Systems and Robotics • IPR, Univ. of Karlsruhe, D-76128, Karlsruhe, Germany

    Tim C. Lueth & Thomas Laengle

Authors
  1. Tim C. Lueth
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  2. Thomas Laengle
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Editor information

Editors and Affiliations

  1. The Institute of Physical and Chemical Research (RIKEN), 2-1 Hirosawa, 351-01, Wako, Saitama, Japan

    Hajime Asama (Research Scientist) & Isao Endo (Chief Researcher) (Research Scientist) &  (Chief Researcher)

  2. Department of Mechano-Informaatics and Systems, Nagoya University, Furo, 464-01, Chikusa-ku, Nagoya, Japan

    Toshio Fukuda (Professor) (Professor)

  3. Department of Precision Machinery Engineering, University of Tokyo, 7-3-1 Hongo, 113, Bunkyo-ku, Tokyo, Japan

    Tamio Arai (Professor) (Professor)

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© 1994 Springer-Verlag Tokyo

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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

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  • 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

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