Online Motion Planning for Failure Recovery of Modular Robotic Systems
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F15%3A00231077" target="_blank" >RIV/68407700:21230/15:00231077 - isvavai.cz</a>
Result on the web
<a href="http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7139447" target="_blank" >http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7139447</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/ICRA.2015.7139447" target="_blank" >10.1109/ICRA.2015.7139447</a>
Alternative languages
Result language
angličtina
Original language name
Online Motion Planning for Failure Recovery of Modular Robotic Systems
Original language description
Modular robots are built of many basic robotic modules that can be connected into robots of various shapes. These robots are able to recover from a failure by ejecting and replacing damaged modules. Although this type of failure recovery is usually suggested in literature, it may be precluded due inability of the broken modules to cooperate or if no spare modules are available. In such a case, locomotion of a damaged robot should be adapted to allow the robot to reach a repair station or even to finishits task without the need to exchange the broken modules. In this paper, we investigate how to adapt motions of modular robots with respect to failures using the concept of motion planning with motion primitives. The ability of the proposed system to recover from failures is verified in a simulation and also in a HW experiment.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
JC - Computer hardware and software
OECD FORD branch
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Result continuities
Project
<a href="/en/project/7AMB14DE007" target="_blank" >7AMB14DE007: Multi-robot systems in complex environments</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>S - Specificky vyzkum na vysokych skolach
Others
Publication year
2015
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
Proceedings of 2014 IEEE International Conference on Robotics and Automation
ISBN
978-1-4799-6923-4
ISSN
1050-4729
e-ISSN
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Number of pages
6
Pages from-to
1905-1910
Publisher name
IEEE
Place of publication
Piscataway
Event location
Seattle
Event date
May 26, 2015
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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