Online Motion Planning for Failure Recovery of Modular Robotic Systems

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

Online Motion Planning for Failure Recovery of Modular Robotic Systems

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

Online Motion Planning for Failure Recovery of Modular Robotic Systems

Popis výsledku anglicky

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.

Druh

D - Stať ve sborníku

CEP obor

JC - Počítačový hardware a software

OECD FORD obor

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Projekt

<a href="/cs/project/7AMB14DE007" target="_blank" >7AMB14DE007: Multi-robotické systémy v komplexním prostředí</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>S - Specificky vyzkum na vysokych skolach

Rok uplatnění

2015

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název statě ve sborníku

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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Počet stran výsledku

6

Strana od-do

1905-1910

Název nakladatele

IEEE

Místo vydání

Piscataway

Místo konání akce

Seattle

Datum konání akce

26. 5. 2015

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

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