Journal
ROBOTICS AND AUTONOMOUS SYSTEMS
Volume 88, Issue -, Pages 11-23Publisher
ELSEVIER
DOI: 10.1016/j.robot.2016.11.015
Keywords
Data fusion; Multi-sensor perception; Dependability; Fault tolerance
Funding
- LABEX MS2T
- ROBOTEX TEAM
- French government, through the Future Investments programs [ANR-11-IDEX-0004-02, ANR-10-44 EQPX]
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Multisensor perception has an important role in robotics and autonomous systems, providing inputs for critical functions including obstacle detection and localization. It is starting to appear in critical applications such as drones and ADASs (Advanced Driver Assistance Systems). However, this kind of complex system is difficult to validate comprehensively. In this paper we look at multisensor perception systems in relation to an alternative dependability method, namely fault tolerance. We propose an approach for tolerating faults in multisensor data fusion that is based on the more traditional method of duplication-comparison, and that offers detection and recovery services. We detail an example implementation using Kalman filter data fusion for mobile robot localization. We demonstrate its effectiveness in this case study using real data and fault injection. (C) 2016 Elsevier B.V. All rights reserved.
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