A Binary Tree Based Approach for the Design of Fault-Tolerant Robot Team

Taskallocation andload balancingare critical in faulttolerant robotic teamdesign.Thispaperdeals withthe problemsof allocating andreallocatingtasks to multiple robotsin a fault-tolerantmanner.Usinga tree structureto store global information about active robots and unfinishedsub-tasks,eachrobotcanreallocate itself to tasks independentlywhenrobot failure occurs in the team.Organizedin full distributedmanner,robotsin the teamrespondrobustly, flexibly andwithoutnegotiation with other team membersto robot failure and other environmentchanges. Simulationresults are given to showthe feasibility of this approach.

• Type: Conference
• Year: 2001
• Where: FLAIRS
• Authors: Haihang Sun, Robert McCartney
• Keywords: Artificial Intelligence, FLAIRS 2001, Membersto Robot Failure, Problemsof Allocating Andreallocatingtasks, Tasks Independentlywhenrobot Failure