Fault supervision for multi robotics systems

• Ano de defesa: 2015
• Autor(a) principal: Roman, Felipe de Fraga
• Orientador(a): Amory, Alexandre de Morais
• Tipo de documento: Dissertação
• Tipo de acesso: Acesso aberto
• Idioma: por
• Instituição de defesa: Pontifícia Universidade Católica do Rio Grande do Sul; Porto Alegre
• Palavras-chave em Português: INFORMÁTICA; ROBÓTICA; TOLERÂNCIA A FALHAS (INFORMÁTICA)
• Link de acesso: http://hdl.handle.net/10923/7732

As robotics becomes more common and people start to use it in routine tasks, dependability becomes more and more relevant to create trustworthy solutions. A commonly used approach to provide reliability and availability is the use of multi robots instead of a single robot. However, in case of a large teams of robots (tens or more), determining the system status can be a challenge. This work presents a runtime monitoring solution for Multi Robotic Systems. It integrates Nagios IT Monitoring tool and ROS robotic middleware. One of the potential advantages of this approach is that the use of a consolidated IT infrastructure tool enables the reuse of several relevant features developed to monitor large datacenters. Another important advantage of that this solution does not require additional software at the robot side. The experimental results demonstrate that the proposed monitoring system has a small performance impact on the robot and the monitoring server can easily support hundreds or even thousands of monitored robots.