The Application of Evolvable Hardware to Fault Tolerant Robot Control

TY - GEN

T1 - The Application of Evolvable Hardware to Fault Tolerant Robot Control

AU - Teerakittikul, Pitiwut

AU - Tempesti, Gianluca

AU - Tyrrell, Andy M.

PY - 2009/3

Y1 - 2009/3

N2 - This paper introduces a short study into the efficacy of using intrinsic evolvable hardware to assist in the control of a four-wheeled robot when faults are induced during operation. Where this work differs from much that has gone before is in the choice of how to use evolution to assist in the operation of the system. Here evolution is only "turned-on" when a fault is detected and at this point a previously-trusted configuration is used as the starting point for the evolutionary process, as opposed to the normal random starting point. This procedure is executed on an FPGA and shows that an intrinsic evolutionary system can successfully bring the faulty system back to a working status.

AB - This paper introduces a short study into the efficacy of using intrinsic evolvable hardware to assist in the control of a four-wheeled robot when faults are induced during operation. Where this work differs from much that has gone before is in the choice of how to use evolution to assist in the operation of the system. Here evolution is only "turned-on" when a fault is detected and at this point a previously-trusted configuration is used as the starting point for the evolutionary process, as opposed to the normal random starting point. This procedure is executed on an FPGA and shows that an intrinsic evolutionary system can successfully bring the faulty system back to a working status.

UR - http://www.scopus.com/inward/record.url?scp=67650480391&partnerID=8YFLogxK

M3 - Conference contribution

SN - 978-1-4244-2755-0

SP - 1

EP - 8

BT - 2009 IEEE WORKSHOP ON EVOLVABLE AND ADAPTIVE HARDWARE: (WEAH)

PB - IEEE

CY - NEW YORK

ER -