Energy-aware fault-mitigation architecture for underwater vehicles

• Published in: Autonomous robots Vol. 41; no. 5; pp. 1083 - 1105
• Main Authors: De Carolis, Valerio, Maurelli, Francesco, Brown, Keith E., Lane, David M.
• Format: Journal Article
• Language: English
• Published: New York Springer US 01.06.2017; Springer Nature B.V
• Subjects: Actuators; Architecture; Artificial Intelligence; Autonomous underwater vehicles; Autonomy; Computer Imaging; Control; Energy management; Engineering; Fault detection; Fault tolerance; Inspection; Level (quantity); Mechatronics; Parameters; Pattern Recognition and Graphics; Performance degradation; Representations; Robotics; Robotics and Automation; Subsystems; Vehicles; Vision; Fault tolerance; Energy awareness; Autonomous underwater vehicle; Knowledge representation; Automatic fault-mitigation

Energy awareness and fault tolerance are important aspects for extending the autonomy levels of today’s autonomous vehicles. With the aim of preparing the way for persistent autonomous operations of underwater vehicles this work focusses its efforts on investigating the effects of actuator failures,...