Fault tolerance versus performance metrics for robot systems
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چکیده
The incorporation of fault tolerance techniques into robot systems improves the reliability but also increases the hardware and computational requirements in the overall system It is not always clear how to evaluate the merit or e ectiveness of di erent fault tolerance approaches for a given application In this paper we present a new set of performance criteria designed to measure and compare the e ectiveness of robot fault tolerance strategies The measures which are designed to evaluate fault tolerance performance cost tradeo s can also be used to evaluate pure performance or pure fault tolerance strategies We show their usefulness using a variety of proposed fault tolerance approaches in the literature focusing on multiprocessor control architectures
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تاریخ انتشار 1996