Using Adaptive Control Architecture to Enhance Mobile Robot Reliability

Bastien Durand 1 Karen Godary-Dejean 1 Lionel Lapierre 1 Robin Passama 2 Didier Crestani 1
1 EXPLORE - Robotique mobile pour l'exploration de l'environnement
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
2 IDH - Interactive Digital Humans
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : This paper details the development of an adaptive control architecture permitting to improve the reliability and robustness of autonomous mobile robot. A continuous monitoring of the significant failures allows dynamically choosing the most relevant reaction ensuring the success of the mission. This adaptive behavior is implemented into the control architecture COTAMA. The key points of the specific mechanisms added to COTAMA are addressed and explained. Experimental results are proposed to illustrate the control architecture adaptive behavior.
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Submitted on : Friday, December 17, 2010 - 4:00:54 PM
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Bastien Durand, Karen Godary-Dejean, Lionel Lapierre, Robin Passama, Didier Crestani. Using Adaptive Control Architecture to Enhance Mobile Robot Reliability. TAROS: Towards Autonomous Robotic Systems, 2010, Plymouth, United Kingdom. pp.54-61. ⟨lirmm-00547852⟩

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