Distributed Methods for Autonomous Robot Groups Fault-Tolerant Management

被引：0

作者：

Kalyaev, Igor ^{[1
]}

Melnik, Eduard ^{[2
]}

Klimenko, Anna ^{[3
]}

机构：

[1] Southern Fed Univ, 105-42 Bolshaya Sadovaya St, Rostov Na Donu 344006, Russia

[2] Russian Acad Sci, Fed Res Ctr, Southern Sci Ctr, 41 Chekhov St, Rostov Na Donu 344006, Russia

[3] Southern Fed Univ, Sci Res Inst Multiprocessor Comp Syst, 2 Chekhov St, Taganrog 347922, Russia

来源：

INTERACTIVE COLLABORATIVE ROBOTICS, ICR 2020 | 2020年 / 12336卷

关键词：

Robot groups; Distributed ledger; Fault-tolerance; Consensus; DIAGNOSIS;

D O I：

10.1007/978-3-030-60337-3_14

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The current paper deals with the problem of fault tolerant failure detection in the groups of autonomous and mobile robots. To reach an efficient solution it is proposed to use fault tolerant consensus methods from the area of distributed ledger technologies, including the distributed leader and leaderless types of consensus. To use the abovementioned methods some modifications of the latter are proposed and discussed, as well as some estimations have been made from the energy consumption point of view.

引用

页码：135 / 147

页数：13

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