A hierarchical fault tolerant architecture for an autonomous robot

This paper presents a generic approach to specify a fault tolerant robot controller, and its implementation and validation with ROS and Gazebo. The main idea is to implement a fault tolerance strategy using a fault tree and an ordered set of recovery modules. A fault injection campaign has been carried out with a mobile autonomous robot for airport inspection using simulation with Gazebo and ROS. This successful experiment implements a safety-first strategy.

Keywords

Fault tolerance Autonomous mobile robot Simulation Fault injection ROS Gazebo

Domains

Computer Science [cs] Robotics [cs.RO]

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PID6442955.pdf (2.22 Mo)

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Jérémie Guiochet : Connect in order to contact the contributor

https://hal.laas.fr/hal-02558604

Submitted on : Wednesday, April 29, 2020-5:19:04 PM

Last modification on : Monday, April 17, 2023-6:32:11 PM

Dates and versions

hal-02558604 , version 1 (29-04-2020)

Identifiers

HAL Id : hal-02558604 , version 1
DOI : 10.1109/DSN-W50199.2020.00031

Cite

Anthony Favier, Antonin Messioux, Jérémie Guiochet, Jean-Charles Fabre, Charles Lesire. A hierarchical fault tolerant architecture for an autonomous robot. 6th Intern. Workshop on Safety and Security of Intelligent Vehicles (SSIV) at IEEE/IFIP Intern. Conf. on Dependable Systems and Networks (DSN), Jun 2020, Valence, Spain. ⟨10.1109/DSN-W50199.2020.00031⟩. ⟨hal-02558604⟩

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