Resilience by Reconfiguration: Exploiting Heterogeneity in Robot Teams

@article{Ramachandran2019ResilienceBR,
  title={Resilience by Reconfiguration: Exploiting Heterogeneity in Robot Teams},
  author={Ragesh K. Ramachandran and James A. Preiss and Gaurav S. Sukhatme},
  journal={CoRR},
  year={2019},
  volume={abs/1903.04856}
}
We propose a method to maintain high resource availability in a networked heterogeneous multi-robot system subject to resource failures. In our model, resources such as sensing and computation are available on robots. The robots are engaged in a joint task using these pooled resources. When a resource on a particular robot becomes unavailable (e.g., a sensor ceases to function), the system automatically reconfigures so that the robot continues to have access to this resource by communicating… CONTINUE READING

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