Proposition of an adaptive control architecture for fault tolerance
type: Dataset
description: The software control architectures are the decisional center of robots. Unfortunately, the robots and their architectures suffer from numerous flaws that disrupt and / or compromise the achievement of missions they are assigned. We therefore propose a methodology for designing adaptive control architecture for the implementation of fault tolerance. The first part of this thesis proposes a state of the art of dependability, at first in a generic way before being specified in the context of control architectures. The second part allows us to detail the proposed methodology to identify potential errors of a robot and respond using the means of fault tolerance. The third part presents the experimental context and application in which the proposed methodology will be implemented and described in the fourth part of this manuscript. An experiment highlighting specific aspects of the methodology is detailed in the last part.
landing page: https://theses.hal.science/tel-00684149
keyword: amdec
keyword: architecture-de-controle
keyword: control-architecture
keyword: dependability
keyword: fault-tolerance
keyword: fmcea
keyword: human-robot-interaction
keyword: infoeu-reposemanticsdoctoralthesis
keyword: interaction-homme-robot
keyword: spiautoengineering-sciences-physicsautomatic
keyword: surete-de-fonctionnement
keyword: theses
keyword: tolerance-aux-fautes
issued: 2026-05-23T01:29:47.997726
modified: 2026-05-23T01:29:47.997731
language: fr
contact point: Organization
  fn: CCSD

test_moissonnage_selune
type: Agent

Proposition of an adaptive control architecture for fault tolerance
type: Distribution
format: HTML
access URL: https://theses.hal.science/tel-00684149
issued: 2026-05-23T01:29:48.031399
modified: 2026-05-23T01:29:47.927750