A hierarchical fault tolerant architecture for an autonomous robot
Résumé
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.
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