Fault tolerance
相关论文数: 20
关于
容错性（Fault Tolerance）是指系统在面对组件失效、传感器故障、执行器损坏或通信中断等异常情况时，仍能维持正常或降级运行的能力。在机器人与人工智能领域，容错技术被广泛应用于机械臂控制、多机器人协作、群体机器人系统及自主移动平台等场景。其核心方法包括：基于自适应估计器的故障检测与诊断模块、滑模控制与终端滑模等鲁棒控制策略、可重构控制架构（如ALLIANCE分布式软件框架），以及基于神经网络和模糊逻辑的智能补偿机制。容错技术的重要性体现在以下几个方面：它能显著提升系统在复杂非结构化环境中的可靠性与安全性，确保机器人在部分故障发生时仍能完成任务；在多机器人系统中，它通过任务重新分配保障整体任务连续性；在工业生产和农业采摘等高要求应用场景中，它有效降低了因单点故障导致的系统瘫痪风险，是构建高可靠自主系统的关键技术基础。
顶级研究者
顶尖机构
最高引用论文
ALLIANCE: an architecture for fault tolerant multirobot cooperation
Lynne E. Parker
引用数: 1298 • 1998
High Precision Formation Control of Mobile Robots Using Virtual Structures
M. Anthony Lewis, Kar-Han Tan
引用数: 1063 • 1997
Fault Accommodation for Nonlinear Dynamic Systems
Μ. Staroswiecki, Vincent Cocquempot
引用数: 768 • 2006
Recognition and Localization Methods for Vision-Based Fruit Picking Robots: A Review
Yunchao Tang, Mingyou Chen, Chenglin Wang, Lufeng Luo, Jinhui Li, Guoping Lian, Xiangjun Zou
引用数: 546 • 2020
Finite Time Fault Tolerant Control for Robot Manipulators Using Time Delay Estimation and Continuous Nonsingular Fast Terminal Sliding Mode Control
Mien Van, Shuzhi Sam Ge, Hongliang Ren
引用数: 470 • 2016
DeepCoin: A Novel Deep Learning and Blockchain-Based Energy Exchange Framework for Smart Grids
Mohamed Amine Ferrag, Λέανδρος Μαγλαράς
引用数: 358 • 2019
Exploring the performance of ROS2
Yuya Maruyama, Shinpei Kato, Takuya Azumi
引用数: 354 • 2016
Movement control algorithms for realization of fault-tolerant ad hoc robot networks
Prithwish Basu, Jason Redi
引用数: 276 • 2004
Fault-Tolerant Gathering Algorithms for Autonomous Mobile Robots
Noa Agmon, David Peleg
引用数: 269 • 2006
Dynamically reconfigurable robotic system
Toshio Fukuda, Seiya Nakagawa
引用数: 240 • 2003
Heterogeneous Multi-Robot Cooperation
Lynne E. Parker
引用数: 217 • 1994
Adaptive fault tolerant control for a class of input and state constrained MIMO nonlinear systems
Xu Jin
引用数: 213 • 2015
Fault-tolerant output-constrained control of unknown Euler–Lagrange systems with prescribed tracking accuracy
Jin‐Xi Zhang, Guang‐Hong Yang
引用数: 209 • 2019
Robotic fault detection and fault tolerance: A survey
M.L. Visinsky, Joseph R. Cavallaro, Ian D. Walker
引用数: 206 • 1994
Deploying sensor networks with guaranteed capacity and fault tolerance
Jonathan Bredin, Erik D. Demaine, MohammadTaghi Hajiaghayi, Daniela Rus
引用数: 202 • 2005
Adaptive Fuzzy Integral Sliding-Mode Control for Robust Fault-Tolerant Control of Robot Manipulators With Disturbance Observer
Mien Van, Shuzhi Sam Ge
引用数: 202 • 2020
ALLIANCE: An architecture for fault tolerant multi-robot cooperation
Lynne E. Parker
引用数: 200 • 1995
Underwater Robots: Motion and Force Control of Vehicle-Manipulator Systems
Gianluca Antonelli
引用数: 188 • 2006
A dynamic fault tolerance framework for remote robots
M.L. Visinsky, Joseph R. Cavallaro, Ian D. Walker
引用数: 185 • 1995
Multi-Robot Task Allocation in Uncertain Environments
Maja J. Matarić, Gaurav S. Sukhatme, E.H. Ostergaard
引用数: 176 • 2003