Modeling a fault tolerant multiagent system for the control of a mobile robot using MaSE methodology

摘要

A multiagent system that tolerates failure in a hardware and software level in the distributed control system of a mobile robot is shown; it's made to guarantee the availability of the robot in the most efficient way. The multiagent system is modeled thru the formal MaSE methodology supported by its development tool, AgentTool; in such a way that a greater reliability is guaranteed. The multiagent system tolerates system failures in the robot's control systems through three types of agents that cooperate so that the mechanisms that detect failures in the input, output, processing and network control devices are activated; as well as the tasks that constitute the robot's control system, these agents also actiyate the failure-isolation mechanisms and reconfigure the system by means of interactions between the agents that are Supported in the design of the physical architecture of the robot's control system, In our system, the agents are designed such that if they recover from the failure, the agents reconfigure the control system to the state prior to the failure, if they are not able to recover the failure, the robot's control system continues working due to the double connection and to the duplicity of the tasks and devices, because the implemented design in the physical architecture of the system allows it.