Providing high availability using lazy replication
ACM Transactions on Computer Systems (TOCS)
An Behavior-based Robotics
Non blocking atomic commitment with an unreliable failure detector
SRDS '95 Proceedings of the 14TH Symposium on Reliable Distributed Systems
On the quality of service of failure detectors
On the quality of service of failure detectors
International Journal of Robotics Research
Distributed Systems: Concepts and Design (4th Edition) (International Computer Science)
Distributed Systems: Concepts and Design (4th Edition) (International Computer Science)
Adaptive task assignment for multiple mobile robots via swarm intelligence approach
Robotics and Autonomous Systems
Toward Cooperative Team-diagnosis in Multi-robot Systems
International Journal of Robotics Research
The PIM: an innovative robot coordination model based on Java thread migration
Proceedings of the 6th international symposium on Principles and practice of programming in Java
The Object-Oriented Thought Process
The Object-Oriented Thought Process
Impromptu teams of heterogeneous mobile robots
AAAI'07 Proceedings of the 22nd national conference on Artificial intelligence - Volume 2
Spirits: using virtualization and pervasiveness to manage mobile robot software systems
SelfMan'06 Proceedings of the Second IEEE international conference on Self-Managed Networks, Systems, and Services
Communication, diversity and learning: cornerstones of swarm behavior
SAB'04 Proceedings of the 2004 international conference on Swarm Robotics
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As the applications of mobile robotics evolve it has become increasingly less practical for researchers to design custom hardware and control systems for each problem. This paper presents a new approach to control system design in order to look beyond end-of-lifecycle performance, and consider control system structure, flexibility, and extensibility. Towards these ends the Control ad libitum philosophy was proposed, stating that to make significant progress in the real-world application of mobile robot teams the control system must be structured such that teams can be formed in real-time from diverse components. The Control ad libitum philosophy was applied to the design of the HAA (Host, Avatar, Agent) architecture: a modular hierarchical framework built with provably correct distributed algorithms. A control system for mapping, exploration, and foraging was developed using the HAA architecture and evaluated in three experiments. First, the basic functionality of the HAA architecture was studied, specifically the ability to: (a) dynamically form the control system, (b) dynamically form the robot team, (c) dynamically form the processing network, and (d) handle heterogeneous teams and allocate robots between tasks based on their capabilities. Secondly, the control system was tested with different rates of software failure and was able to successfully complete its tasks even when each module was set to fail every 0.5-1.5 min. Thirdly, the control system was subjected to concurrent software and hardware failures, and was still able to complete a foraging task in a 216 m^2 environment.