An Estimation of Distributed Algorithms of the Fault-Tolerant Management in the Robot Groups

摘要

This paper is devoted to the problem of fault-tolerant management in groups of autonomous and mobile robots. This problem is quite topical because frequent usage of robot groups and the lack of the mechanisms of the fault-tolerant robot failure detection and mission recovery. Some algorithms based on the View-Stamped Replication protocol (with a distributed leader) and on the principles of leaderless consensus have been developed and presented. The procedure of contextual information analysis and the leader election particular procedure are described. Besides, some leaderless algorithms are developed paying attention to the robot groups dynamic location. Some models for the algorithms efficiency estimation in terms of communication overheads has been developed and selected simulation results are given.