A fault-tolerant modular control approach to multi-robot perimeter patrol

  • Authors:

  • Alessandro Marino;Lynne E. Parker;Gianluca Antonelli;Fabrizio Caccavale;Stefano Chiaverini

  • Affiliations:

  • Dipartimento di Ingegneria e Fisica dell'Ambiente, Università degli Studi della Basilicata, Potenza, Italy;Department of Electrical Engineering and Computer Science, The University of Tennessee, Knoxville, TN;Dipartimento di Automazione, Elettromagnetismo, Ingegneria dell'Informazione e Matematica Industriale, Università degli Studi di Cassino, Cassino, FR, Italy;Dipartimento di Ingegneria e Fisica dell'Ambiente, Università degli Studi della Basilicata, Potenza, Italy;Dipartimento di Automazione, Elettromagnetismo, Ingegneria dell'Informazione e Matematica Industriale, Università degli Studi di Cassino, Cassino, FR, Italy

  • Venue:
  • ROBIO'09 Proceedings of the 2009 international conference on Robotics and biomimetics
  • Year:
  • 2009

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Abstract

The use of large scale multi-robot systems is motivated by a number of desirable features, such as scalability, fault tolerance, robustness and lower cost with respect to more complex and specialized agents. This work is focused on a a behavior-based approach to the problem of the multi-robot border patrolling, in the framework of the Null-Space-based Behavioral control (NSB); it is based on two previous works of the same authors, where the feasibility of the approach is demonstrated. Namely, a few aspects of the approach, not yet tackled in previous works, are investigated: its robustness to faults of individual agents, its capability of managing large numbers of robots, the possibility of adding new tasks in the framework of the multi-robot patrolling problem. Along these directions, our approach has been validated in simulation with a large number of robots and sudden faults as well as experimentally on a team composed by three Pioneers 2-DX robots.