2002 · 35 citations · 16 references
EngineeringAutonomous SystemsRobotics EngineeringFault-tolerant SystemsRoboticsUnderwater RoboticsAutonomous Underwater VehiclesFailure DetectionFault-tolerant ControlMarine Robot ControlReliable System DesignUnderwater Vehicle DesignActuator Fault DetectionAutonomous Underwater Vehicle ControlAutonomous Underwater Vehicle DesignAutonomous Underwater Vehicle SystemsExperimental Study DesignFault AccommodationFault Detection And DiagnosisFault-tolerant Design
Describes the design and implementation of a fault tolerant system for the 6 degrees-of-freedom ODIN autonomous underwater vehicle (AUV). Fault tolerant system design can be divided into three areas: fault detection, fault isolation, and fault accommodation. This paper summarizes previous studies in fault tolerant system design and presents a fault tolerant system design for thruster (actuator) and sensor failure in AUVs. The presented system was implemented in the actual vehicle, ODIN, and its effectiveness was evaluated with experimental results.
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Intelligence without representation
Rodney A. Brooks · Artificial Intelligence · 1991 · 4.7K citations
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D. E. Goldberg · Medical Entomology and Zoology · 1989 · 2.3K citations