A Systematic Robot Fault-Tolerance Approach
Bingu Shim, Beomho Baek, Sooyong Park · 2009
This paper introduces a systematic approach to suggesting proper fault-tolerance techniques for robots. We classified general robot faults into six types, and developed a UML profile to organize and model a dependancy structure of existing fault-tolerance techniques. In future, we will organize fault-tolerance techniques into the form of the UML profile and determine the relationships between each fault and techniques.