ICRA 2011 Paper Abstract


Paper WeP213.1

Hoshino, Satoshi (Tokyo Institute of Technology), Seki, Hiroya (Tokyo Institute of Technology), Ota, Jun (The University of Tokyo)

Multi-Robot Manipulation and Maintenance for Fault-Tolerant Systems

Scheduled for presentation during the Regular Sessions "Factory Automation" (WeP213), Wednesday, May 11, 2011, 15:25−15:40, Room 5I

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on July 14, 2020

Keywords Factory Automation, Distributed Robot Systems, Manufacturing, Maintenance and Supply Chains


Ensuring fault tolerance of robotic systems is a challenge for factory automation. This paper focuses on multi-robot manipulation and maintenance for fault-tolerant systems. For this purpose, a manipulation strategy of multiple mobile robots, that enables a system to continue operating even if a working robot undergoes preventive maintenance or fails and undergoes corrective maintenance, is implemented. In addition, a robot failure and a maintenance policy for preventive and corrective maintenance activities are mathematically modeled on the basis of reliability engineering. Thus, working robots are allowed to undergo preventive maintenance at an optimal interval and corrective maintenance each time they fail. Finally, through simulation experiments, the effectiveness of an integrated multi-robot manipulation and maintenance in industrial applications is shown.



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