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 Global Methodology in Control Architecture to improve Mobile Robot Reliability Bastien Durand 35973-0 Karen Godary-Dejean 32d488aaca850f9243bffce641eff8b6 lirmm.fr karen-godary-dejean 172597 17640-172597 https://orcid.org/0000-0002-5835-021X https://www.idref.fr/087649802 Lionel Lapierre 295941df026b7011028f05adf1ac155d lirmm.fr lionel-lapierre 175761 17239-175761 https://orcid.org/0000-0002-4320-2118 Didier Crestani 771e4223b8c9338b504ed86671d977f5 lirmm.fr didier-crestani 180878 17704-180878 https://www.idref.fr/130348597 https://orcid.org/0000-0003-0011-5003 Martine Peridier c2991973e5c01c2376ee6dbe9de59840 lirmm.fr.invalid 2010-12-17 15:58:02 2023-03-24 14:52:53 2010-12-17 16:03:50 2010-10-18 2010-12-17 contributor Martine Peridier c2991973e5c01c2376ee6dbe9de59840 lirmm.fr.invalid CCSD lirmm-00547867 https://hal-lirmm.ccsd.cnrs.fr/lirmm-00547867 durand:lirmm-00547867 <i>IROS: Intelligent Robots and Systems</i>, Oct 2010, Tapei, Taiwan. pp.1018-1023 IROS: Intelligent Robots and Systems, Oct 2010, Tapei, Taiwan. pp.1018-1023 HAL Authorization CNRS - Centre national de la recherche scientifique Robotique mobile pour l'exploration de l'environnement Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier Réseau de recherche en Théorie des Systèmes Distribués, Modélisation, Analyse et Contrôle des Systèmes Mathématiques, Informatique, Physique et Systèmes Université de Montpellier Université de Montpellier (2015-2021) International No No Yes Yes Global Methodology in Control Architecture to improve Mobile Robot Reliability Bastien Durand 35973-0 Karen Godary-Dejean 32d488aaca850f9243bffce641eff8b6 lirmm.fr karen-godary-dejean 172597 17640-172597 https://orcid.org/0000-0002-5835-021X https://www.idref.fr/087649802 Lionel Lapierre 295941df026b7011028f05adf1ac155d lirmm.fr lionel-lapierre 175761 17239-175761 https://orcid.org/0000-0002-4320-2118 Didier Crestani 771e4223b8c9338b504ed86671d977f5 lirmm.fr didier-crestani 180878 17704-180878 https://www.idref.fr/130348597 https://orcid.org/0000-0003-0011-5003 IROS: Intelligent Robots and Systems 2010-10-18 2010-10-22 Tapei Taiwan IEEE/RSJ 1018-1023 2010-10-18 English Engineering Sciences [physics]/Automatic Conference papers Conference papers Conference papers

This paper presents a global methodology devel- oped to increase the reliability of mobile robots. An initial analysis of robot functions and their corresponding significant failures enabled us to introduce dedicated observation modules in the embedded architecture to monitor fault events. Once detected, the functioning mode of the robot can be adapted according to the failure severity level to ensure the success of its mission. The methodology was applied in a case study and the experimental implementation and results are detailed.

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