A Fault Tolerant Control Architecture Based on Fault Trees for an Underwater Robot Executing Transect Missions
Adrien Hereau Karen Godary-Dejean Jérémie Guiochet Didier Crestani Adrien Hereau Karen Godary-Dejean Jérémie Guiochet Didier Crestani
Robotic systems evolving in hazardous and harsh environment are prone to mission failure or system loss in presence of faults. This paper presents a fault tolerant methodology, implemented into a control architecture of an underwater robot that executes biological monitoring missions. High level constraint violations (mission, safety, energy, time and localization) and low level faults (software a...