Distributed sensor analysis for fault detection in tightly-coupled multi-robot team tasks
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
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Fault-tolerance, complex structure management andreconfiguration are seen as valuable characteristics.Embryonic arrays represent one novel approach that takesinspiration from nature to improve upon standardtechniques. An existing BAE SYSTEMS RASCALý robothas been augmented so as to improve the motor controlsystem reliability through two biologically-inspiredsystems: An embryonic array and an artificial immunesystem.This paper is concerned with the embryonic array; thisis novel in that it supports datapath-wide arithmetic andlogic functions. The array is configured to provide anautonomous self-repairing hardware motor controller andis realised using a standard Xilinx Virtex FPGA. As withprevious embryonic systems, the logic requirement of thearray is greater than that of a conventional FPGA orstandard modular-redundancy approach. However, thearray offers the advantages of both conventional FPGAsand modular-redundancy techniques; it is areconfigurable computing platform that provides inherentfault-tolerance through its distributed self-repairmechanism.