An approach for Fault Tolerant and Performance Guarantee Autonomous Robotic Mission

Philippe Lambert (1) , Lionel Lapierre (1) , Didier Crestani (1)

1 EXPLORE - Robotique mobile pour l'exploration de l'environnement

Long duration autonomous missions are still challenging objectives for robotics. This paper presents a new methodology using performance points of view to guide hardware and software resources management according to mission execution and fault occurrence. Experimental results on a patrolling mission are presented. It also detail how localization guarantee is managed and what impact it has on the overall methodology and its performances.

Mots clés: performance guarantee; Autonomous robotics; energy-aware management; safety; mission duration; localization; fault tolerance

Domaines: Automatique / Robotique

Philippe Lambert, Lionel Lapierre, Didier Crestani. An approach for Fault Tolerant and Performance Guarantee Autonomous Robotic Mission. AHS 2019 - NASA/ESA Conference on Adaptive Hardware and Systems, Jul 2019, Colchester, United Kingdom. pp.87-94, ⟨10.1109/AHS.2019.00009⟩. ⟨hal-02160494⟩