Εμφάνιση απλής εγγραφής

dc.creatorGrigoropoulos N., Koutsoubelias M., Lalis S.en
dc.date.accessioned2023-01-31T08:27:18Z
dc.date.available2023-01-31T08:27:18Z
dc.date.issued2019
dc.identifier10.1109/DCOSS.2019.00038
dc.identifier.isbn9781728105703
dc.identifier.urihttp://hdl.handle.net/11615/73713
dc.description.abstractAutonomous vehicles, drones in particular, are used to support a wide range of sensing and actuating missions. While these missions are typically coordinated by a human operator, it is attractive to automate this coordination through a computer program that retrieves information from the vehicles and issues commands to them according to the mission objectives. However, the fact that such a computer-driven system may interact with and affect the physical environment in a direct way, introduces several challenges. In particular, it is important to tolerate failures of the mission control computer as smoothly as possible, avoiding roll-backs that might lead to inconsistencies. To address this problem, we propose an active replication approach, ensuring that as long as at least one replica of the mission controller remains operational, the mission will progress in a consistent way and with full transparency for the mission program. We define the properties that should be satisfied to achieve the required consistency, and present system-level mechanisms that support both deterministic and non-deterministic mission programs. We then discuss a concrete implementation of the proposed approach for an existing programming framework targeting multi-drone applications. Finally, we give an analytical cost model for the communication overhead of the proposed approach, and report the actual execution delay incurred in our prototype implementation for indicative scenarios using a suitable simulation environment. © 2019 IEEE.en
dc.language.isoenen
dc.sourceProceedings - 15th Annual International Conference on Distributed Computing in Sensor Systems, DCOSS 2019en
dc.source.urihttps://www.scopus.com/inward/record.uri?eid=2-s2.0-85071928225&doi=10.1109%2fDCOSS.2019.00038&partnerID=40&md5=91b80b3d4001c8acfea255917679659b
dc.subjectAutonomous vehiclesen
dc.subjectDronesen
dc.subjectFault toleranceen
dc.subjectTarget dronesen
dc.subjectActive replicationen
dc.subjectCommunication overheadsen
dc.subjectMission objectivesen
dc.subjectPhysical environmentsen
dc.subjectProgramming frameworken
dc.subjectPrototype implementationsen
dc.subjectSensing and actuatingen
dc.subjectSimulation environmenten
dc.subjectDistributed computer systemsen
dc.subjectInstitute of Electrical and Electronics Engineers Inc.en
dc.titleActive Replication for Centrally Coordinated Teams of Autonomous Vehiclesen
dc.typeconferenceItemen


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