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- W2637342016 abstract "We have witnessed a significant advancement in the field of mobile robot applications in the past two decades.From performing mission critical tasks such as in planetary exploration to simply doing household chores, this type ofrobots requires availability, reliability and safety of its operations. Consequently, there is a growing demand for faulttolerant control system (FTCS) for mobile robots where one of it major component is the fault detection and isolation(FDI) module. In our FDI study, one of the challenges in designing the robot model is to create an accurate and robustdynamics model. In this paper, the environment structure, which is the dynamic change in the surface characteristics, willbe included. We will utilize Local Neural Model (LNM) in our robot modeling process. Wheel slippage is an eventhappened when the robot wheels lose their full grasp of the surface. This may cause the robot to deviate from its desiredtrajectory. On the other hand, the fault on the robot actuator may also lead to similar behavior but need different solution.In this paper we will expand the functionality of FDI module to infer a real actuator fault and wheel slippage in which, thesolutions for both events can be combined in a single, common controller." @default.
- W2637342016 created "2017-06-30" @default.
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- W2637342016 date "2007-02-01" @default.
- W2637342016 modified "2023-09-26" @default.
- W2637342016 title "Improving maneuverability of wheeled mobile robots by exploiting lateral slip" @default.
- W2637342016 hasPublicationYear "2007" @default.
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