@inproceedings{d8025ca630bc47539683ad26ae147c05,
title = "Kinematic motion studies of an OmniDirectional mobile robot",
abstract = "Actuator failure may severely affect the performance of mobile robots and vehicles. This study serves to evaluate how a mobile system responds under various actuator failure modes to determine appropriate methods to satisfy performance objectives. We evaluate a kinematically symmetric holonomic mobile robot while fully actuable (with no motor/wheel failures), as well as under actuator failure conditions. Closed-loop state feedback is applied to the system to observe performance and self-correction under both nominal and failure mode conditions, and resulting performance is evaluated. Observations of these conditions motivate the need to address failure modes within the controller architecture.",
keywords = "accommodation, actuator, failure, mobile, omindirectional, robot",
author = "Field, {Jennifer R.} and Salman, {Mishah U.}",
note = "Publisher Copyright: {\textcopyright} 2017 IEEE.; 5th IEEE International Symposium on Robotics and Intelligent Sensors, IRIS 2017 ; Conference date: 05-10-2017 Through 07-10-2017",
year = "2018",
month = jan,
day = "8",
doi = "10.1109/IRIS.2017.8250141",
language = "English",
series = "Proceedings - 2017 IEEE 5th International Symposium on Robotics and Intelligent Sensors, IRIS 2017",
pages = "318--323",
booktitle = "Proceedings - 2017 IEEE 5th International Symposium on Robotics and Intelligent Sensors, IRIS 2017",
}