ROS-MATLAB Interface and Setup for a Fault Tolerant Robotic System Using Human Robot Interaction

Abstract

A Fault Tolerant Control system is a crucial aspect to any type of application mainly in robotics. In this paper, the focus is on the setup and interfacing between MATLAB and the Robotic Operating System (ROS) towards the implementation of a fault tolerant robotic system architecture previously proposed. This paper is a work in progress and presents the preliminary efforts towards achieving the communication between the different components used in the robotic system. Also, some of the possible test cases to verify how to system reacts to certain faults is also presented. This aspect of communication between different modules in the robotic system is significant to make the system more efficient by combining the powerful MATLAB tools in conjunction with the Robot Operating System(ROS).