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Implementation of algorithms for failure vulnerability reduction in mobile robot systems

Grant number: 16/01859-3
Support Opportunities:Scholarships in Brazil - Scientific Initiation
Effective date (Start): May 01, 2016
Effective date (End): August 17, 2016
Field of knowledge:Physical Sciences and Mathematics - Computer Science - Computing Methodologies and Techniques
Principal Investigator:Carlos Henrique Costa Ribeiro
Grantee:Gabriel Oliveira Martins
Host Institution: Divisão de Ciência da Computação (IEC). Instituto Tecnológico de Aeronáutica (ITA). Ministério da Defesa (Brasil). São José dos Campos , SP, Brazil
Associated research grant:11/17610-0 - Monitoring and control of dynamic systems subject to faults, AP.TEM


In scenarios involving autonomous robots teams working in environments that are hazardous with respect to physical integrity and environmental constraints, the occurrence of communication failure is a possibility to consider. In such scenarios, the robots may form an ad hoc communication network in which there is spontaneous connection to other devices within a spatially limited transmission range. Failures and attacks on robots, ultimately, bring the risk of disconnecting the network, and therefore predictive methods must mitigate such effects. Among these methods, we consider a technique for reducing the vulnerability of the network based on local information, proposed in the literature but not evaluated extensively in real robot systems. The main objective of this proposal is to implement and evaluate this technique in a robotic platform comprising a set of mobile e-Puck robots, considering a specific performance verification protocol. As a secondary objective and to achieve integration with other projects of interest to the working group in which this research is inserted, the implementation of the protocol will be made using the ROS - Robot Operating System - software library and definitions.

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