Abstract
The robotic information and control systems based on performance redundancy and decentralized dispatching concepts are fault-tolerant and have a high potential in the dependability aspect. The paper deals with a dependability improvement through the configuration forming. As the load balancing improves the reliability function, the quality criteria of system configurations relates to load balancing. Configuration forming is a multicriteria and multiconstraint problem. The proposed approach is to replace monitoring and control tasks relocation criterion by delegating of task context distribution to the software components of the system. The paper contains a new simplified model of the configuration forming problem, the dependability improvement approach and simulation results being discussed briefly.
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Acknowledgements
The reported study was funded by SSC RAS projects 02562014-0008, 0256-2015-0082 within the task 007-01114-16 PR and by RFBR project 17-08-01605-a.
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Melnik, E., Korovin, I., Klimenko, A. (2017). Improving Dependability of Reconfigurable Robotic Control System. In: Ronzhin, A., Rigoll, G., Meshcheryakov, R. (eds) Interactive Collaborative Robotics. ICR 2017. Lecture Notes in Computer Science(), vol 10459. Springer, Cham. https://doi.org/10.1007/978-3-319-66471-2_16
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DOI: https://doi.org/10.1007/978-3-319-66471-2_16
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