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Conference Papers Year : 2010

Using Adaptive Control Architecture to Enhance Mobile Robot Reliability

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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Automatic
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Dates and versions

lirmm-00547852 , version 1 (17-12-2010)

Identifiers

  • HAL Id : lirmm-00547852 , version 1

Cite

Bastien Durand, Karen Godary-Dejean, Lionel Lapierre, Robin Passama, Didier Crestani. Using Adaptive Control Architecture to Enhance Mobile Robot Reliability. TAROS 2010 - 11th Annual Conference Towards Autonomous Robotic Systems, 2010, Plymouth, United Kingdom. pp.54-61. ⟨lirmm-00547852⟩
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