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Module 01 / 03
Manipulator and mobile-robot control after resource loss.
The objective is to find representative systems, failure modes and experimental environments that can falsify or validate the post-failure control architecture.
Manipulator and mobile-robot control after resource loss.Open section
01 / Robotics
Manipulator and mobile-robot control after resource loss.
Current implementation work maps naturally to robotic platforms because sensing, actuation, compute and communication resources can be isolated and degraded independently.
| Failure | Residual question | Væringjar II mechanism |
|---|---|---|
| actuator loss | what motion/control authority remains? | \(\boldsymbol{\rho}(t)\mapsto\mathcal F_{\mathrm{feas}}(\boldsymbol{\rho}(t))\mapsto c^\star(t)\) |
| sensor degradation | what state can still be estimated? | HealthMonitor + estimator |
| compute / communication loss | which control path remains executable? | service/resource remapping |
| multiple faults | is continued operation still stable? | configuration search + stability gate |