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Mécanismes de prise de points de reprise opportunistes pour robots mobiles autonomes
2009 July, 07
106 pages
Language: French
Team(s): ACES
Summary:
Failures of mobile computing devices can lead to severe data loss. Collaborative robotic systems (swarm robotic), designed to work in total autonomy, are sensitive to these failures. The failure of a robot inside these systems leads to a direct loss of data. The loss of data may cause direct cost on the process realized by the swarm. Usual methods relying on remote backup can no longer be used in a context of high mobility. Indeed, global network coverage is hard or impossible to get. Short-range communication media can be used to overcome data failure through opportunistic communications for data backup. When two devices enter their respective communication range, they can initiate an ephemeral data exchange. Using this principle in swarm of robots is of great help when no global coverage can be assured. Backuping robot data inside a swarm using opportunistic communications can reduce the cost overhead caused by a failure inside the swarm. However, such a system must handle the
data backup to optimize the cost efficiency and to ensure the backup transparency. In this thesis, we propose an opportunistic backup system reducing costs induced by failure inside a swarm of robots. This system is based on cost evaluation and computed priorities to optimize the backup efficiency. It acts transparently toward the swarm system and guarantees the availability of memory resources for normal behaviour of the swarm. This system was simulated and a prototype was realized.