Distributed Fault Diagnostic for Multiple Mobile Robots Using an Agent Programming Language. Morais, M. G.; Meneguzzi, F. R.; Bordini, R. H.; and Amory, A. M. In Proceedings of the 17th International Conference on Advanced Robotics, pages 395-400, 2015.
Distributed Fault Diagnostic for Multiple Mobile Robots Using an Agent Programming Language [pdf]Paper  abstract   bibtex   
Programming autonomous multi-robot systems can be extremely complex without the use of appropriate software development techniques to abstract the hardware heterogeneity from the complexity of distributed software to coordinate autonomous behavior. Moreover, real environments are dynamic, which can generate unpredictable events that can lead the robots to failure. This paper presents a highly abstract cooperative fault diagnostic method for a team of mobile robots described on a programming environment based on ROS (Robot Operating System) and the Jason multi-agent framework. When a robot detects a failure, it can perform two types of diagnostic methods: a local method executed on the faulty robot itself and a cooperative method where another robot helps the faulty robot to determine the source of failure. A case study demonstrates the success of the approach on two turtlebots.
@InProceedings{Morais2015,
  Title                    = {Distributed Fault Diagnostic for Multiple Mobile Robots Using an Agent Programming Language},
  Author                   = {Marcio G. Morais and Felipe R. Meneguzzi and Rafael H. Bordini and Alexandre M. Amory},
  Booktitle                = {Proceedings of the 17th International Conference on Advanced Robotics},
  Year                     = {2015},
  pages					   = {395-400},
  Abstract                 = {Programming autonomous multi-robot systems can be extremely complex without the use of appropriate software development techniques to abstract the hardware heterogeneity from the complexity of distributed software to coordinate autonomous behavior. Moreover, real environments are dynamic, which can generate unpredictable events that can lead the robots to failure. This paper presents a highly abstract cooperative fault diagnostic method for a team of mobile robots described on a programming environment based on ROS (Robot Operating System) and the Jason multi-agent framework. When a robot detects a failure, it can perform two types of diagnostic methods: a local method executed on the faulty robot itself and a cooperative method where another robot helps the faulty robot to determine the source of failure. A case study demonstrates the success of the approach on two turtlebots.},
 file = {:http\://www.meneguzzi.eu/felipe/pubs/icar-ros-jason-2015.pdf:PDF},
 owner = {meneguzzi},
 timestamp = {2015.09.04},
 url = {http://www.meneguzzi.eu/felipe/pubs/icar-ros-jason-2015.pdf}
}
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