Enabling functional resilience in autonomous multi-arm and multi- vehicle cooperative tasks
Title: Enabling functional resilience in autonomous multi-arm and multi- vehicle cooperative tasks
Authors: Amar K. Behera (Centre for Intelligent Autonomous Manufacturing Systems, Queen’s University Belfast);
Year: 2019
Citation: Behera, A. K., (2019). Enabling functional resilience in autonomous multi-arm and multi- vehicle cooperative tasks. UK-RAS19 Conference: “Embedded Intelligence: Enabling & Supporting RAS Technologies” Proceedings, 28-31. doi: 10.31256/UKRAS19.8
Abstract:
This paper presents results from experiments aimed at creating a framework for designing functionally resilient multi-robot systems. This is achieved by embedding functional information in motion planning algorithms and linking it to the robot’s morphology. Two specific use case scenarios are discussed, one pertaining to multi-arm co-operative tasks and the other involving multi-vehicle tasks. Initial experimental results for each use case scenario are presented. The results indicate that the speed of response in the event of a disaster is dependent on the noise in the environment, processing power and intelligent mapping of functions to morphologies.