Distributed control and communication fault tolerance for the CKBot

@article{Park2009DistributedCA,
  title={Distributed control and communication fault tolerance for the CKBot},
  author={Michael Park and Mark Yim},
  journal={2009 ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots},
  year={2009},
  pages={682-688}
}
In this paper we present a method for distributed fault tolerance in a modular robotic system. We describe an implementation of this method on the CKBot system. In particular, we broadcast infrared (IR) signals to modules which collaboratively vote on a majority course of action. Various gait selections for a 7 module caterpillar and a 16 module quadruped with a faulty subset of IR receivers have been verified to demonstrate the algorithm's robustness. We conclude the paper with a discussion of… CONTINUE READING

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