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A Fault Tolerant Control Architecture Based on Fault Trees for an Underwater Robot Executing Transect Missions

Adrien Hereau 1 Karen Godary-Dejean 1 Jérémie Guiochet 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 LAAS-TSF - Équipe Tolérance aux fautes et Sûreté de Fonctionnement informatique
LAAS - Laboratoire d'analyse et d'architecture des systèmes
Abstract : Robotic systems evolving in hazardous and harsh environment are prone to mission failure or system loss in presence of faults. This paper presents a fault tolerant methodology, implemented into a control architecture of an underwater robot that executes biological monitoring missions. High level constraint violations (mission, safety, energy, time and localization) and low level faults (software and hardware faults) are considered using a method based on fault trees. These undesirable events are detected and treated by a fault tolerant module that decides to recover at low level or to give a feedback to the mission manager which selects the high level reaction. This fault tolerant architecture has been tested on real field conditions, and we illustrate our methodology on a set of selected events. We conclude about reliability improvement of low cost underwater robots for complex and long missions.
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Submitted on : Tuesday, May 18, 2021 - 8:50:15 AM
Last modification on : Friday, August 5, 2022 - 3:03:31 PM
Long-term archiving on: : Thursday, August 19, 2021 - 6:19:00 PM


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Adrien Hereau, Karen Godary-Dejean, Jérémie Guiochet, Didier Crestani. A Fault Tolerant Control Architecture Based on Fault Trees for an Underwater Robot Executing Transect Missions. ICRA 2021 - 38th IEEE International Conference on Robotics and Automation, May 2021, Xi’an, China. pp.2127-2133, ⟨10.1109/ICRA48506.2021.9561735⟩. ⟨lirmm-03228297⟩



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