A Robot Fault-Tolerance Approach Based on Fault Type

Abstract

As the field of robot service expands, reliability has become one of the highest priorities in robot development. Fault-tolerance is an important characteristic for robots to increase their reliability levels. However, the literature on fault-tolerance in robotics has focused mainly on developing a single fault-tolerance technique that is focused on improving reliability for a limited set of context and situations. To meet the demands for reliable robots, a set of appropriate fault-tolerance techniques should be used in the given context and situation. In this paper, we present a systematic approach to facilitate the selection of appropriate robot fault-tolerance techniques on the basis of the context in the robot domain. We have applied the approach to build a fault-tolerance architecture for a robot platform.