Abstract—This paper presents an optimal multi-robot team design using robot reliability for satisfying desired probability of mission completion in fault system. Previous studies in this area mainly described a quantitative analysis, but an analytic solution for optimal multi-robot team organization was not presented. The proposed method, however, suggests not only a quantitative analysis but also provides necessary information for optimal team organization. In addition, an algorithmic solution is also provided for the optimal multi-robot team design when a faulty robot occurs. Simulated experiments are presented for verifying the proposed method, which proves the efficiency of the method.
 
Index Terms—reliability, multi-robot, fault-tolerant system reliability function

Cite: Gyuho Eoh and Beom H. Lee, "Optimal Fault-tolerant Multi-robot Team Design Using Robot Reliability," Jounal of Automation and Control Engineering, Vol. 3, No. 5, pp. 378-384, October, 2015. doi: 10.12720/joace.3.5.378-384