Title:
ロボットクラスターにおけるフォールト・トレラントな同時位置推定および地図構築を実行するためのシステムおよび方法
Document Type and Number:
Japanese Patent JP6668401
Kind Code:
B2
Abstract:
In current distributed simultaneous localization and mapping (SLAM) implementations on multiple robots in a robotic cluster, failure of a leader robot terminates a map building process between multiple robots. Therefore, a technique for fault-tolerant SLAM in robotic clusters is disclosed. In this technique, robotic localization and mapping SLAM is executed in a resource constrained robotic cluster such that the distributed SLAM is executed in a reliable fashion and self-healed in case of failure of the leader robot. To ensure fault tolerance, the robots are enabled, by time series analysis, to find their individual failure probabilities and use that to enhance cluster reliability in a distributed manner.
Inventors:
Suvarnaday
Swata Bisworth
Aligit Moukaji
Swata Bisworth
Aligit Moukaji
Application Number:
JP2018041242A
Publication Date:
March 18, 2020
Filing Date:
March 07, 2018
Export Citation:
Assignee:
TATA Consultancy Services Limited
International Classes:
G05D1/02; B25J13/00
Domestic Patent References:
| JP20067341A |
Foreign References:
| WO2009072228A1 |
Other References:
Haoyao Chen et al,Localization for Multirobot Formations in Indoor Environment,IEEE/ASME TRANSACTIONS ON MECHATRONICS,米国,IEEE,2010年 8月,Vol.15, No.4,p.561-574
Lynne E. Parker,ALLIANCE: An Architecture for Fault Tolerant Multi-Robot Cooperation,IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION,米国,IEEE,1998年 4月,VOL.14, NO.2,p.220-240
Lynne E. Parker,ALLIANCE: An Architecture for Fault Tolerant Multi-Robot Cooperation,IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION,米国,IEEE,1998年 4月,VOL.14, NO.2,p.220-240
Attorney, Agent or Firm:
Takeshi Ebe
Kazuo Asahi
Kazuo Asahi