Vis enkel innførsel

dc.contributor.authorFurno, Lidia
dc.contributor.authorNielsen, Mikkel Cornelius
dc.contributor.authorBlanke, Mogens
dc.date.accessioned2015-11-12T14:17:47Z
dc.date.accessioned2016-01-07T15:17:46Z
dc.date.available2015-11-12T14:17:47Z
dc.date.available2016-01-07T15:17:46Z
dc.date.issued2015
dc.identifier.citationIFAC-Papers OnLine 2015, 48(21):732-739nb_NO
dc.identifier.issn2405-8963
dc.identifier.urihttp://hdl.handle.net/11250/2372926
dc.description.abstractThe present paper introduces an approach to fault-tolerant reconfiguration for collaborating underwater robots. Fault-tolerant reconfiguration is obtained using the virtual actuator approach, Steffen (2005). The paper investigates properties of a centralised versus a decentralised implementation and assesses the capabilities under communication constraints between the individual robots. In the centralised case, each robot sends information related to its own status to a unique virtual actuator that computes the necessary reconfiguration. In the decentralised case, each robot is equipped with its own virtual actuator that is able to accommodate both local faults and faults within a collaborating unit. The paper discusses how this is done through exploiting structural information (e.g. thruster configuration) for each participant in the cooperation. A test scenario is presented as a case in which an underwater drill needs to be transported and positioned by three collaborating robots as part of an underwater autonomous operation.nb_NO
dc.language.isoengnb_NO
dc.publisherElseviernb_NO
dc.relation.uridoi:10.1016/j.ifacol.2015.09.614
dc.titleCentralised versus Decentralised Control Reconfiguration for Collaborating Underwater Robotsnb_NO
dc.typeJournal articlenb_NO
dc.date.updated2015-11-12T14:17:47Z
dc.source.volume48nb_NO
dc.source.journalIFAC-Papers OnLinenb_NO
dc.source.issue21nb_NO
dc.identifier.doi10.1016/j.ifacol.2015.09.614
dc.identifier.cristin1288564
dc.description.localcode© 2015 Published by Elsevier Ltd. This is the authors' accepted and refereed manuscript to the article. Locked until 2017-01-01.nb_NO


Tilhørende fil(er)

Thumbnail

Denne innførselen finnes i følgende samling(er)

Vis enkel innførsel