Distributed Methods for Autonomous Robot Groups Fault-Tolerant Management

摘要

The current paper deals with the problem of fault tolerant failure detection in the groups of autonomous and mobile robots. To reach an efficient solution it is proposed to use fault tolerant consensus methods from the area of distributed ledger technologies, including the distributed leader and leaderless types of consensus. To use the abovementioned methods some modifications of the latter are proposed and discussed, as well as some estimations have been made from the energy consumption point of view.