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Full-Text Articles in Robotics
Flexible Fault Tolerance For The Robot Operating System, Sukhman S. Marok
Flexible Fault Tolerance For The Robot Operating System, Sukhman S. Marok
Master's Theses
The introduction of autonomous vehicles has the potential to reduce the number of accidents and save countless lives. These benefits can only be realized if autonomous vehicles can prove to be safer than human drivers. There is a large amount of active research around developing robust algorithms for all parts of the autonomous vehicle stack including sensing, localization, mapping, perception, prediction, planning, and control. Additionally, some of these research projects have involved the use of the Robot Operating System (ROS). However, another key aspect of realizing an autonomous vehicle is a fault-tolerant design that can ensure the safe operation of …
Adaft: A Resource-Efficient Framework For Adaptive Fault-Tolerance In Cyber-Physical Systems, Ye Xu
Adaft: A Resource-Efficient Framework For Adaptive Fault-Tolerance In Cyber-Physical Systems, Ye Xu
Doctoral Dissertations
Cyber-physical systems frequently have to use massive redundancy to meet application requirements for high reliability. While such redundancy is required, it can be activated adaptively, based on the current state of the controlled plant. Most of the time the physical plant is in a state that allows for a lower level of fault-tolerance. Avoiding the continuous deployment of massive fault-tolerance will greatly reduce the workload of CPSs. In this dissertation, we demonstrate a software simulation framework (AdaFT) that can automatically generate the sub-spaces within which our adaptive fault-tolerance can be applied. We also show the theoretical benefits of AdaFT, and …