Planning to Fail: Mission Design for Modular Repairable Robot Teams

Stephen B. Stancliff, John M. Dolan, and Ashitey Trebi-Ollennu
Proceedings of the 8th International Symposium on Artificial Intelligence, Robotics and Automation in Space (ISAIRAS 2005), September, 2005.


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Abstract
This paper presents a method using stochastic simulation to evaluate the reliability of robot teams consisting of modular robots. For an example planetary exploration mission we use this method to compare the performance of a repairable robot team with spare modules versus nonrepairable robot teams. Our results show that for this mission a repairable robot team can provide a higher probability of mission completion than a nonrepairable team, even when the nonrepairable robots are built using components with an order of magnitude greater reliability than the repairable 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, "Planning to Fail: Mission Design for Modular Repairable Robot Teams," Proceedings of the 8th International Symposium on Artificial Intelligence, Robotics and Automation in Space (ISAIRAS 2005), September, 2005.

BibTeX Reference
@inproceedings{Stancliff_2005_5099,
   author = "Stephen B Stancliff and John M Dolan and Ashitey Trebi-Ollennu",
   title = "Planning to Fail: Mission Design for Modular Repairable Robot Teams",
   booktitle = "Proceedings of the 8th International Symposium on Artificial Intelligence, Robotics and Automation in Space (ISAIRAS 2005)",
   publisher = "ESA Publications Division",
   month = "September",
   year = "2005",
}