Fault diagnosis in dynamic systems: theory and application
Fault diagnosis in dynamic systems: theory and application
The Kalman filter: an introduction to concepts
Autonomous robot vehicles
Initial conditions for Kalman filtering: prior knowledge specification
ISTASC'07 Proceedings of the 7th Conference on 7th WSEAS International Conference on Systems Theory and Scientific Computation - Volume 7
Comparative evaluation of the recent Linux and Solaris kernel architectures
ICCOMP'07 Proceedings of the 11th WSEAS International Conference on Computers
Robotics: Modelling, Planning and Control
Robotics: Modelling, Planning and Control
Real-time, embedded fuzzy control of the pioneer3-DX robot for path following
ICS'08 Proceedings of the 12th WSEAS international conference on Systems
Sliding modes in finite-time control systems with variable structure
ACMOS'07 Proceedings of the 9th WSEAS international conference on Automatic control, modelling and simulation
Control design for uncertain systems based on integral-type sliding surface
ROCOM'06 Proceedings of the 6th WSEAS international conference on Robotics, control and manufacturing technology
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Today's trends in control engineering and robotics are blending gradually into a slightly challenging area, the development of fault tolerant real-time applications. Hence, applications should timely deliver synchronized data-sets, minimize latency in their response and meet their performance specifications in the presence of disturbances and faults. The fault tolerant behavior in mobile robots refers to the possibility to autonomously detect and identify faults as well as the capability to continue operating after a fault occurred. This paper introduces a real-time distributed control application with fault tolerance capabilities for differential wheeled mobile robots. ARTEMIC combines the power and flexibility of real-time open-source software, the robustness of nonlinear control schemes, the efficiency of Kalman filtering and the extensibility of high-level programming languages for hardware interfacing. Specific design, development and implementation details will be provided in this paper.