Mission Reliability Estimation for Repairable Robot Teams

Stephen B. Stancliff, John M. Dolan, Ashitey Trebi-Ollenu

Abstract

NASA has expressed interest in using modular self-repairable robotic teams for the exploration and colonization of Mars. One of the reasons often given for using repairable robots is increased reliability. Analytical tools are needed for estimating the reliability of robotic missions in order to determine if this reasoning is correct, and for what types of missions. In this paper we present the first method for analytically predicting the probability of mission completion for teams of repairable mobile robots. We then apply this method to compare the reliability of repairable and nonrepairable robot teams for an example mission scenario. Our results show that for this simple mission, with reasonable assumptions regarding costs, teams of repairable robots with spare components are superior to teams with spare nonrepairable robots.

References

  1. NASA (National Aeronautics and Space Administration), 2004. Human & Robotic Technology (H&RT) Project Formulation Plan, Version 5.1. Retrieved June 25, 2005 from NASA Exploration web site: http://exploration.nasa.gov/documents/nova_29july04b.pdf
  2. Carlson, J., and Murphy, R., 2003. Reliability Analysis of Mobile Robots. In: Proc. 2003 IEEE Int'l Conf. Robotics and Automation (ICRA 2003), September 14-19, 2003, Taipei, Taiwan. IEEE, 274-281.
  3. Bererton, C., and Khosla, P., 2002. An Analysis of Cooperative Repair Capabilities in a Team of Robots. In: Proc. 2002 IEEE Int'l Conf. Robotics and Automation (ICRA 2002), May 11-15, 2002, Washington, DC, USA. IEEE. 476-486.
  4. Stancliff, S.B, Dolan, J.M., and Trebi-Ollennu, A., 2005. Towards a Predictive Model of Mobile Robot Reliability. To be published as tech. report, The Robotics Institute, Carnegie Mellon University, 2005.
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Paper Citation


in Harvard Style

B. Stancliff S., M. Dolan J. and Trebi-Ollenu A. (2005). Mission Reliability Estimation for Repairable Robot Teams . In Proceedings of the 1st International Workshop on Multi-Agent Robotic Systems - Volume 1: MARS, (ICINCO 2005) ISBN 972-8865-34-1, pages 144-151. DOI: 10.5220/0001196701440151


in Bibtex Style

@conference{mars05,
author={Stephen B. Stancliff and John M. Dolan and Ashitey Trebi-Ollenu},
title={Mission Reliability Estimation for Repairable Robot Teams},
booktitle={Proceedings of the 1st International Workshop on Multi-Agent Robotic Systems - Volume 1: MARS, (ICINCO 2005)},
year={2005},
pages={144-151},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001196701440151},
isbn={972-8865-34-1},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 1st International Workshop on Multi-Agent Robotic Systems - Volume 1: MARS, (ICINCO 2005)
TI - Mission Reliability Estimation for Repairable Robot Teams
SN - 972-8865-34-1
AU - B. Stancliff S.
AU - M. Dolan J.
AU - Trebi-Ollenu A.
PY - 2005
SP - 144
EP - 151
DO - 10.5220/0001196701440151