Mission Reliability Estimation for Repairable Robot Teams

Stephen B. Stancliff, John M. Dolan, and Ashitey Trebi-Ollennu
Proceedings of the 1st International Workshop on Multi-Agent Robotic Systems - MARS 2005, October, 2005, pp. 144 - 151.


Download
  • Adobe portable document format (pdf) (162KB)
Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

Abstract
NASA has expressed interest in using modular self-repairable robotic teams for the exploration and colonization of Mars. One of the reasons often given for using repairable robots is increased reliability. Analytical tools are needed for estimating the reliability of robotic missions in order to determine if this reasoning is correct, and for what types of missions. In this paper we present the first method for analytically predicting the probability of mission completion for teams of repairable mobile robots. We then apply this method to compare the reliability of repairable and nonrepairable robot teams for an example mission scenario. Our results show that for this simple mission, with reasonable assumptions regarding costs, teams of repairable robots with spare components are superior to teams with spare nonrepairable robots.

Keywords
Mobile Robots, Space Robotics, Reliability, Failure, Mission Design

Notes
Associated Center(s) / Consortia: Vision and Autonomous Systems Center
Associated Project(s): Reliability of Mobile Robot Teams
Number of pages: 8

Text Reference
Stephen B. Stancliff, John M. Dolan, and Ashitey Trebi-Ollennu, "Mission Reliability Estimation for Repairable Robot Teams," Proceedings of the 1st International Workshop on Multi-Agent Robotic Systems - MARS 2005, October, 2005, pp. 144 - 151.

BibTeX Reference
@inproceedings{Stancliff_2005_5097,
   author = "Stephen B Stancliff and John M Dolan and Ashitey Trebi-Ollennu",
   editor = "Peter Sapaty and Joaquim Filipe",
   title = "Mission Reliability Estimation for Repairable Robot Teams",
   booktitle = "Proceedings of the 1st International Workshop on Multi-Agent Robotic Systems - MARS 2005",
   pages = "144 - 151",
   publisher = "INSTICC",
   address = "Portugal",
   month = "October",
   year = "2005",
}