I
AE
S In
t
er
na
t
io
na
l J
o
urna
l o
f
Ro
bo
t
ics a
nd
Aut
o
m
a
t
io
n
(
I
J
RA)
Vo
l.
14
,
No
.
4
,
Dec
em
b
er
2
0
2
5
,
p
p
.
31
1
~
3
1
9
I
SS
N:
2722
-
2
5
8
6
,
DOI
:
1
0
.
1
1
5
9
1
/i
jr
a
.
v
14
i
4
.
pp
31
1
-
319
311
J
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l ho
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ttp
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RS
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tain
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tralize
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p
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tech
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lem
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a
MA
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/
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k
s
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latio
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im
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it
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tain
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re
p
lac
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m
e
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ts
wit
h
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in
ima
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isru
p
ti
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n
.
K
ey
w
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r
d
s
:
Gr
ap
h
th
eo
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y
L
id
ar
f
au
lts
Mu
lti
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r
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b
o
t sy
s
tem
R
o
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f
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lts
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h
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s
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p
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c
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rticle
u
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d
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r th
e
CC B
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SA
li
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.
C
o
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r
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s
p
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A
uth
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r
:
Ah
m
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M.
E
ls
ay
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Me
ch
atr
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n
g
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ee
r
in
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De
p
ar
tm
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Hig
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T
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s
titu
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T
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C
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@
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co
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1.
I
NT
RO
D
UCT
I
O
N
Mu
lti
-
m
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b
ile
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b
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y
s
tem
s
ar
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p
lo
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d
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o
s
s
a
wid
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an
g
e
o
f
ap
p
licatio
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s
,
wh
er
e
f
o
r
m
atio
n
co
n
tr
o
l
p
lay
s
a
cr
u
cial
r
o
le
in
ex
ec
u
tin
g
task
s
s
u
ch
as
s
u
r
v
eillan
ce
,
m
ater
ial
tr
an
s
p
o
r
t,
an
d
s
im
ilar
o
p
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atio
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s
.
E
ac
h
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o
b
o
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in
s
u
ch
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s
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d
ep
en
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s
o
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a
c
o
m
b
in
atio
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o
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s
en
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r
s
—
in
clu
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in
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wh
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el
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s
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in
e
r
tial
m
ea
s
u
r
em
en
t
u
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it
s
(
I
MU
)
,
L
i
DAR,
GP
S,
an
d
ca
m
er
as
f
o
r
a
cc
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r
ate
lo
ca
lizatio
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an
d
n
av
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g
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.
T
h
e
s
elec
tio
n
o
f
th
ese
s
en
s
o
r
s
is
in
f
lu
en
ce
d
b
y
th
e
r
o
b
o
t’
s
lo
c
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m
o
tio
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m
et
h
o
d
an
d
th
e
o
p
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atio
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al
en
v
ir
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n
m
en
t.
T
o
en
h
a
n
ce
p
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ce
p
tio
n
,
s
en
s
o
r
f
u
s
io
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tec
h
n
iq
u
es
ar
e
u
s
ed
to
co
m
b
in
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d
ata
f
r
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m
m
u
ltip
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s
en
s
o
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s
,
p
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o
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d
u
n
d
er
s
tan
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i
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g
o
f
th
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o
b
o
t’
s
s
tate
an
d
s
u
r
r
o
u
n
d
in
g
s
[
1
]
.
Ho
w
ev
er
,
th
e
o
cc
u
r
r
e
n
ce
o
f
f
au
lts
in
an
y
r
o
b
o
t w
ith
in
th
e
s
y
s
tem
ca
n
jeo
p
ar
d
ize
th
e
s
u
cc
ess
f
u
l
co
m
p
letio
n
o
f
th
e
ass
ig
n
ed
task
.
Fo
r
ex
am
p
le,
i
n
a
team
o
f
m
o
b
ile
m
an
ip
u
lato
r
r
o
b
o
ts
h
an
d
lin
g
o
b
jects,
a
s
in
g
le
r
o
b
o
t
m
alf
u
n
ctio
n
co
u
l
d
lead
to
m
is
s
io
n
f
ailu
r
e
[
2
]
.
Fau
lts
m
a
y
ar
is
e
in
ac
tu
ato
r
s
,
s
en
s
o
r
s
,
o
r
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th
er
c
o
m
p
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ts
,
u
n
d
er
s
c
o
r
in
g
th
e
n
ee
d
f
o
r
r
eliab
le
a
ctu
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an
d
s
en
s
o
r
s
y
s
tem
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to
en
s
u
r
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s
ea
m
less
o
p
er
atio
n
.
T
o
ad
d
r
ess
th
ese
ch
all
en
g
es,
f
au
lt
-
to
ler
a
n
t
co
o
p
er
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co
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tr
o
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(
FTCC
)
h
as
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d
ev
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o
p
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as
an
ap
p
r
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ac
h
to
d
esig
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a
d
ap
tiv
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co
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tr
o
ller
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th
at
s
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s
tain
s
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s
tem
p
er
f
o
r
m
an
ce
with
in
ac
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p
tab
le
lim
its
,
ev
en
wh
en
f
au
lts
o
cc
u
r
.
Var
io
u
s
FTCC
m
eth
o
d
o
l
o
g
ies
an
d
em
e
r
g
in
g
tr
en
d
s
h
av
e
b
ee
n
ex
p
lo
r
ed
b
y
[
3
]
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
7
2
2
-
2
5
8
6
I
AE
S I
n
t J Ro
b
&
Au
to
m
,
Vo
l
.
1
4
,
No
.
4
,
Dec
em
b
er
2
0
2
5
:
31
1
-
3
1
9
312
A
f
au
lt
-
to
ler
an
t
c
o
n
tr
o
l
s
y
s
tem
m
ay
a
u
to
m
atica
lly
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ain
tai
n
s
tab
ilit
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an
d
g
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ad
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q
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ate
p
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f
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m
an
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ev
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m
p
o
n
en
t
f
ailu
r
e
s
o
cc
u
r
.
Kh
eir
an
d
is
h
et
a
l.
[
4
]
r
ev
ea
l
a
f
au
lt
-
to
le
r
an
t
s
en
s
o
r
f
u
s
io
n
m
eth
o
d
f
o
r
m
o
b
ile
r
o
b
o
t
lo
ca
lizatio
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,
u
s
in
g
in
p
u
t
f
r
o
m
two
I
MU
s
en
s
o
r
s
an
d
a
wh
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l
en
co
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er
to
p
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th
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r
o
b
o
t'
s
p
o
s
itio
n
,
to
g
eth
er
with
a
m
u
lti
-
m
o
d
el
Kalm
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f
ilter
f
o
r
f
au
lt
d
etec
tio
n
.
Similar
ly
,
C
h
an
g
e
t
a
l.
[
5
]
p
r
esen
t
an
ad
ap
tiv
e
d
is
tr
ib
u
ted
f
au
lt
-
to
le
r
an
t
f
o
r
m
atio
n
co
n
tr
o
l
(
FTFC
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f
o
r
m
u
lti
-
r
o
b
o
t
s
y
s
tem
s
d
ea
lin
g
with
ac
tu
ato
r
f
au
lts
.
An
o
th
er
ap
p
r
o
ac
h
,
r
e
p
o
r
ted
in
[
6
]
,
lev
e
r
ag
es
a
n
o
n
lin
ea
r
m
o
d
el
p
r
ed
ictiv
e
c
o
n
tr
o
ller
(
NM
PC
)
to
ex
p
lo
it
th
e
ac
tu
atio
n
r
ed
u
n
d
a
n
cy
o
f
o
m
n
id
ir
ec
tio
n
al
r
o
b
o
ts
,
g
iv
in
g
a
r
ea
l
-
tim
e
u
n
if
ied
s
o
lu
tio
n
f
o
r
h
an
d
lin
g
d
if
f
er
en
t
ac
t
u
atio
n
f
au
lt
s
ce
n
ar
io
s
.
E
f
f
ec
tiv
e
f
au
lt
d
etec
tio
n
an
d
is
o
latio
n
(
FDI
)
ar
e
cr
i
tical
f
o
r
d
ec
is
io
n
-
m
ak
in
g
i
n
f
a
u
lt
-
to
ler
an
t
s
y
s
te
m
s
.
Ab
id
an
d
Kh
a
n
[
7
]
in
t
r
o
d
u
ce
d
a
n
FDI
a
p
p
r
o
ac
h
b
ased
o
n
m
u
lti
-
s
en
s
o
r
f
u
s
io
n
an
d
v
alid
ated
it
in
s
im
u
lated
r
o
b
o
t
n
av
i
g
atio
n
u
n
d
er
v
ar
io
u
s
in
f
r
a
r
ed
(
I
R
)
an
d
ca
m
er
a
f
au
lt
s
itu
atio
n
s
.
Als
o
,
Ab
id
et
a
l.
[
8
]
p
r
esen
t
an
FDI
tech
n
iq
u
e
u
s
in
g
m
u
lti
-
lev
el
d
ata
f
u
s
io
n
an
d
b
e
h
av
io
r
al
a
n
aly
s
is
,
in
teg
r
atin
g
p
r
e
-
p
r
o
ce
s
s
in
g
,
s
en
s
o
r
f
u
s
io
n
,
co
n
f
lict
m
o
n
ito
r
in
g
,
co
n
f
id
en
ce
lev
el
co
m
p
u
tatio
n
,
an
d
f
a
u
lt
is
o
latio
n
.
Fo
r
h
ar
d
war
e
d
ef
ec
t
d
etec
tio
n
,
Z
weig
le
et
a
l.
[
9
]
d
ev
elo
p
e
d
a
cu
s
to
m
izab
le
f
r
a
m
ewo
r
k
f
o
r
co
n
tex
t
awa
r
en
ess
in
m
o
b
ile
r
o
b
o
ts
,
p
r
im
ar
ily
a
d
d
r
ess
in
g
h
ar
d
war
e
f
au
lt
d
ia
g
n
o
s
tics
.
Ad
d
itio
n
a
lly
,
C
r
estan
i
et
a
l.
[
1
0
]
ad
d
f
au
lt
to
ler
an
ce
in
to
r
ea
l
-
tim
e
r
o
b
o
t
co
n
tr
o
l
t
o
p
o
lo
g
ies,
em
p
lo
y
in
g
s
p
ec
if
ic
s
o
f
twar
e
co
m
p
o
n
e
n
ts
f
o
r
f
au
lt
d
etec
tio
n
a
n
d
in
teg
r
atin
g
r
esid
u
al
-
b
ased
d
iag
n
o
s
is
with
s
ig
n
atu
r
e
an
aly
s
is
to
i
d
en
tify
p
r
o
b
lem
atic
h
ar
d
war
e
o
r
s
o
f
twar
e.
Fin
ally
,
Do
r
an
et
a
l.
[
1
1
]
o
f
f
er
a
n
au
to
n
o
m
ic
f
a
u
lt
-
h
an
d
li
n
g
ar
c
h
itectu
r
e
f
o
r
m
o
b
ile
r
o
b
o
ts
,
p
r
o
v
e
n
th
r
o
u
g
h
ca
s
e
s
tu
d
ies
in
v
o
lv
in
g
wh
ee
l,
s
o
n
a
r
,
an
d
b
atter
y
f
ailu
r
es.
Fo
r
th
e
o
v
er
all
m
u
lti
-
r
o
b
o
t
s
y
s
tem
to
co
m
p
lete
th
e
ass
ig
n
ed
task
s
,
th
e
s
y
s
tem
n
ee
d
s
to
b
e
f
au
lt
-
f
r
ee
o
r
ca
p
ab
le
o
f
ad
a
p
tin
g
to
f
au
lts
th
at
m
ay
o
cc
u
r
in
an
y
o
f
th
e
in
d
iv
i
d
u
al
ag
en
ts
.
Ad
d
itio
n
al
s
tu
d
ies,
s
u
ch
as
[1
2
]
an
d
[
1
3
]
p
r
esen
t FT
F
C
ap
p
r
o
ac
h
es
f
o
r
m
u
lti
-
r
o
b
o
t sy
s
tem
s
in
th
e
p
r
esen
ce
o
f
ac
t
u
ato
r
f
a
u
lts
.
R
eg
ar
d
in
g
th
e
co
n
tex
t
o
f
f
o
r
m
atio
n
co
n
tr
o
l,
v
ar
io
u
s
tech
n
i
q
u
es
h
av
e
b
ee
n
d
e
v
elo
p
e
d
f
o
r
m
u
lti
-
r
o
b
o
t
f
o
r
m
atio
n
c
o
n
tr
o
l.
Oh
et
a
l.
[
1
4
]
p
r
o
v
id
e
a
c
o
m
p
r
e
h
en
s
iv
e
r
ev
iew
o
f
f
o
r
m
atio
n
co
n
tr
o
l
s
tr
ateg
ies.
Al
s
o
,
R
ec
k
er
et
a
l.
[
1
5
]
c
o
n
d
u
cted
a
co
m
p
ar
ativ
e
s
tu
d
y
o
f
v
ar
io
u
s
ap
p
r
o
ac
h
es
to
f
o
r
m
atio
n
co
n
t
r
o
l
f
o
r
n
o
n
h
o
lo
n
o
m
ic
m
o
b
ile
r
o
b
o
ts
in
th
e
co
n
te
x
t
o
f
o
b
ject
tr
an
s
p
o
r
tatio
n
.
T
h
e
s
tu
d
y
s
p
ec
if
ically
f
o
cu
s
es
o
n
co
m
p
ar
in
g
th
e
lead
e
r
-
f
o
llo
we
r
f
o
r
m
atio
n
co
n
tr
o
l
ap
p
r
o
ac
h
es,
in
clu
d
in
g
th
e
ψ
-
co
n
tr
o
ller
an
d
th
e
C
ar
tesi
an
r
ef
er
en
ce
-
b
ased
co
n
tr
o
ller
.
T
h
e
s
tu
d
y
co
n
d
u
cte
d
b
y
R
o
y
et
a
l.
[
1
6
]
p
r
o
p
o
s
ed
a
h
ier
ar
ch
ic
al
co
n
tr
o
l
s
tr
ateg
y
th
at
en
ab
les
r
o
b
o
ts
to
m
ain
tai
n
s
tr
o
n
g
in
ter
-
a
g
en
t
co
h
esiv
en
ess
wh
ile
ad
ap
tin
g
t
h
eir
f
o
r
m
atio
n
in
r
esp
o
n
s
e
t
o
d
y
n
am
ic
en
v
ir
o
n
m
e
n
tal
ch
an
g
es.
T
h
is
ap
p
r
o
ac
h
en
s
u
r
es
th
at
th
e
s
y
s
tem
ca
n
ef
f
ec
tiv
ely
n
av
ig
ate
to
war
d
th
e
tar
g
et.
I
n
ad
d
itio
n
to
f
o
r
m
atio
n
co
n
tr
o
l
s
tr
ateg
ies,
Wu
et
a
l.
[
1
7
]
p
r
o
p
o
s
ed
a
d
is
tr
ib
u
ted
f
o
r
m
atio
n
co
n
tr
o
l
law
b
ased
o
n
th
e
co
m
p
le
x
L
a
p
lacia
n
m
atr
ix
.
T
h
is
ap
p
r
o
ac
h
e
n
ab
les
a
g
r
o
u
p
o
f
m
o
b
ile
r
o
b
o
ts
to
ac
h
iev
e
th
e
d
esire
d
f
o
r
m
atio
n
at
a
s
p
ec
if
ied
s
p
ee
d
wh
ile
en
s
u
r
in
g
th
e
c
o
n
s
is
ten
t r
ea
lizatio
n
o
f
s
im
ilar
f
o
r
m
atio
n
s
in
m
u
lti
-
r
o
b
o
t
s
y
s
tem
s
b
y
u
tili
zin
g
t
h
e
r
elativ
e
p
o
s
itio
n
s
o
f
two
d
esig
n
ated
lead
er
s
.
L
iDAR
-
b
ased
lo
ca
lizatio
n
f
o
r
f
o
r
m
atio
n
co
n
tr
o
l
in
m
u
lti
-
r
o
b
o
t
s
y
s
tem
s
wa
s
p
r
o
p
o
s
ed
b
y
R
ec
k
er
et
a
l.
[
1
8
]
.
T
h
is
ap
p
r
o
ac
h
co
m
p
u
tes
th
e
r
elativ
e
p
o
s
itio
n
s
an
d
v
elo
cities
o
f
r
o
b
o
ts
d
ir
ec
tly
f
r
o
m
L
i
DAR
d
ata.
Ad
d
itio
n
ally
,
th
e
a
u
th
o
r
s
d
e
v
elo
p
e
d
a
n
alg
o
r
ith
m
th
at
u
tili
ze
s
L
iDAR
d
ata
to
d
etec
t
th
e
o
u
tlin
es
o
f
in
d
iv
id
u
al
r
o
b
o
ts
.
A
f
o
r
m
atio
n
co
n
tr
o
l
ap
p
r
o
ac
h
b
ased
o
n
m
ac
h
in
e
lear
n
i
n
g
wa
s
p
r
esen
ted
b
y
R
awa
t
an
d
Kar
l
ap
alem
[
1
9
]
.
T
h
is
s
tu
d
y
i
n
tr
o
d
u
ce
d
a
m
u
lti
-
a
g
en
t
r
ein
f
o
r
ce
m
e
n
t
lear
n
in
g
m
o
d
el
to
d
esig
n
a
c
o
n
tr
o
l
p
o
licy
th
at
en
ab
les
r
o
b
o
ts
t
o
m
ai
n
tain
a
r
eq
u
ir
ed
f
o
r
m
atio
n
wh
ile
m
o
v
in
g
to
war
d
a
d
esire
d
g
o
al.
Fu
r
th
er
m
o
r
e,
J
ian
g
et
a
l.
[
2
0
]
p
r
esen
t
a
co
m
p
ar
ativ
e
an
aly
s
is
o
f
m
o
d
el
-
b
ased
an
d
lear
n
in
g
-
b
ased
a
p
p
r
o
ac
h
es
f
o
r
f
o
r
m
atio
n
co
n
tr
o
l.
T
h
e
f
in
d
in
g
s
in
d
icate
th
at
m
o
d
el
-
b
ased
m
eth
o
d
s
ar
e
ef
f
icien
t
an
d
r
eliab
le
wh
en
ac
cu
r
ate
s
y
s
tem
m
o
d
els
a
r
e
av
ailab
le
an
d
u
n
ce
r
tain
tie
s
ar
e
m
o
d
er
ate.
I
n
co
n
tr
ast,
lear
n
in
g
-
b
ased
m
eth
o
d
s
d
em
o
n
s
tr
ate
g
r
ea
ter
ad
a
p
tab
ilit
y
an
d
r
o
b
u
s
tn
ess
in
co
m
p
lex
an
d
u
n
ce
r
tain
en
v
ir
o
n
m
en
ts
.
Ad
d
itio
n
ally
,
d
if
f
er
en
t
r
esear
ch
er
s
in
v
esti
g
ated
v
ar
io
u
s
ap
p
r
o
ac
h
es
in
m
u
l
ti
-
r
o
b
o
t
f
o
r
m
atio
n
co
n
tr
o
l
[
2
1
]
,
[
2
2
]
,
an
d
[
2
3
]
.
I
n
m
u
lti
-
r
o
b
o
t
s
y
s
tem
s
,
in
d
iv
id
u
al
r
o
b
o
ts
m
ay
ex
p
er
ie
n
ce
s
u
b
s
y
s
tem
f
ailu
r
es,
s
u
ch
as
a
ctu
ato
r
o
r
s
en
s
o
r
m
alf
u
n
ctio
n
s
.
W
h
en
s
u
ch
a
f
ailu
r
e
o
cc
u
r
s
,
th
e
af
f
e
cted
r
o
b
o
t
is
ty
p
ically
is
o
late
d
f
r
o
m
t
h
e
s
y
s
tem
,
r
ed
u
cin
g
t
h
e
to
tal
n
u
m
b
er
o
f
o
p
er
atio
n
al
r
o
b
o
ts
.
Ho
wev
e
r
,
ce
r
tain
task
s
r
eq
u
ir
e
th
e
s
y
s
tem
to
m
ain
tain
a
m
in
im
u
m
n
u
m
b
er
o
f
ac
tiv
e
r
o
b
o
ts
to
en
s
u
r
e
s
u
cc
ess
f
u
l
task
co
m
p
letio
n
.
C
o
n
s
eq
u
e
n
tly
,
th
e
f
ailu
r
e
o
f
a
s
in
g
le
r
o
b
o
t
ca
n
lea
d
to
s
y
s
tem
ic
f
a
ilu
r
e,
p
r
ev
en
tin
g
th
e
en
tire
s
y
s
tem
f
r
o
m
ex
ec
u
tin
g
its
ass
ig
n
ed
task
.
E
x
is
tin
g
s
tu
d
ies
h
av
e
n
o
t
a
d
eq
u
ately
ad
d
r
ess
ed
th
is
is
s
u
e,
leav
in
g
a
cr
itical
r
esear
ch
g
a
p
.
T
o
b
r
id
g
e
t
h
is
g
ap
,
th
is
p
a
p
er
p
r
o
p
o
s
es
a
r
o
b
o
t
r
ep
lace
m
en
t
s
tr
ateg
y
with
in
a
d
ec
en
tr
alize
d
f
au
lt
-
to
ler
an
t
c
o
n
tr
o
l
f
r
am
ew
o
r
k
f
o
r
m
u
lti
-
r
o
b
o
t
s
y
s
tem
s
.
T
h
e
p
r
o
p
o
s
ed
a
p
p
r
o
ac
h
in
v
o
lv
es
r
e
p
lacin
g
th
e
f
au
lty
r
o
b
o
t
with
a
r
eser
v
ed
s
tan
d
b
y
u
n
it
wh
ile
is
o
latin
g
th
e
m
alf
u
n
ctio
n
in
g
r
o
b
o
t.
Fu
r
t
h
er
m
o
r
e,
a
g
r
ap
h
-
th
eo
r
etica
l
m
eth
o
d
is
em
p
lo
y
e
d
to
en
s
u
r
e
s
tab
le
an
d
p
r
ec
is
e
f
o
r
m
atio
n
c
o
n
tr
o
l
.
T
h
e
r
o
b
o
ts
in
th
is
s
y
s
tem
u
ti
lize
an
in
er
tial
m
ea
s
u
r
em
en
t
u
n
it
(
I
MU
)
,
wh
ee
l
en
co
d
er
s
,
an
d
L
iDAR
s
en
s
o
r
s
f
o
r
lo
ca
lizatio
n
an
d
n
a
v
ig
atio
n
.
T
h
is
s
tu
d
y
s
p
ec
if
ically
f
o
cu
s
es
o
n
m
itig
atin
g
L
iDAR
s
en
s
o
r
f
ail
u
r
es.
Du
e
to
b
u
d
g
et
c
o
n
s
tr
ai
n
ts
,
th
e
p
r
o
p
o
s
ed
m
eth
o
d
is
im
p
lem
en
te
d
a
n
d
v
alid
ated
in
a
s
im
u
latio
n
en
v
ir
o
n
m
en
t (
MA
T
L
AB
/Si
m
u
lin
k
)
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
AE
S
I
n
t
J
R
o
b
&
A
u
to
m
I
SS
N:
2722
-
2
5
8
6
Mo
b
ile
r
o
b
o
t rep
la
ce
men
t in
mu
lti
-
r
o
b
o
t fa
u
lt
-
to
lera
n
t fo
r
m
a
tio
n
(
A
h
med
Mo
u
s
ta
fa
E
ls
a
y
ed
)
313
2.
M
E
T
H
O
D
2
.
1
.
F
o
ur
-
wheel
diff
er
ent
ia
l m
o
bil
e
ro
bo
t
T
h
e
p
r
esen
t
s
tu
d
y
i
n
v
esti
g
ates
a
m
u
lti
-
r
o
b
o
t
s
y
s
tem
(
MRS
)
co
m
p
r
is
in
g
f
iv
e
m
o
b
ile
r
o
b
o
ts
.
T
h
e
s
y
s
tem
u
tili
ze
s
f
o
u
r
-
wh
ee
l
d
if
f
er
en
tial
d
r
iv
e
m
o
b
ile
r
o
b
o
ts
t
o
ex
p
lo
r
e
Sp
ar
e
-
ass
is
ted
f
au
lt
-
to
ler
an
t
f
o
r
m
atio
n
co
n
tr
o
l
(
SA
-
FTFC
)
.
A
s
ch
em
atic
d
iag
r
am
o
f
th
e
r
o
b
o
t
is
ill
u
s
tr
ated
in
Fig
u
r
e
1
,
w
h
er
e
L
r
ep
r
esen
ts
th
e
r
o
b
o
t
wh
ee
lb
ase.
V
R
an
d
V
L
d
en
o
te
th
e
lin
ea
r
v
elo
cities
o
f
th
e
r
ig
h
t
an
d
lef
t
wh
ee
ls
r
esp
ec
tiv
ely
,
wh
ile
ω
an
d
v
ar
e
th
e
r
o
b
o
t'
s
an
g
u
lar
a
n
d
lin
ea
r
v
elo
cities
r
esp
ec
tiv
ely
.
T
h
e
p
o
s
itio
n
o
f
th
e
r
o
b
o
t
is
d
ef
in
e
d
b
y
th
e
co
o
r
d
i
n
ates.
(
,
)
,
an
d
ψ
r
ep
r
esen
t
th
e
r
o
b
o
t
o
r
i
en
tatio
n
.
T
h
e
r
o
b
o
t'
s
p
o
s
itio
n
an
d
o
r
ien
tatio
n
r
e
p
r
esen
t
th
e
r
o
b
o
t'
s
s
tate
in
th
e
g
lo
b
al
f
r
a
m
e.
T
h
e
g
en
er
al
co
o
r
d
in
ate
v
ec
to
r
is
d
ef
in
e
d
as
q
(
t)
=
[
x
(
t)
,
y
(
t)
,
θ(
t)
]
T
a
n
d
th
e
c
o
n
tr
o
l
in
p
u
t
v
ec
to
r
is
u
(
t)
=
[
v
(
t)
,
ω
(
t)
]
T
.
T
h
e
k
in
e
m
atic
m
o
d
el
o
f
a
d
if
f
er
en
tia
wh
ee
l
d
r
iv
e
illu
s
tr
ated
in
F
ig
u
r
e
1
is
d
escr
ib
ed
b
y
Ku
m
a
r
[
2
4
]
.
T
h
e
m
o
b
ile
r
o
b
o
t
is
eq
u
ip
p
ed
with
a
q
u
ad
r
atic
wh
ee
l
en
co
d
er
to
d
eter
m
in
e
th
e
wh
ee
l
d
ir
e
ctio
n
.
T
h
e
en
co
d
er
r
eso
l
u
tio
n
is
1
,
6
0
0
p
u
ls
es
p
er
r
ev
o
lu
tio
n
.
T
h
e
r
o
b
o
t
wh
ee
lb
ase
is
2
1
cm
,
an
d
t
h
e
wh
ee
l
en
co
d
e
r
m
ea
s
u
r
em
en
t m
o
d
el
is
illu
s
tr
ated
in
th
e
eq
u
atio
n
.
V
R
=
2
π
∆
t
i
cks
R
r
es
o
l
u
t
i
o
n
∗
dt
,
V
L
=
2
π
∆
t
i
cks
L
r
es
o
l
u
t
i
o
n
∗
dt
(
1
)
Fig
u
r
e
1
.
Fo
u
r
-
wh
ee
l
d
if
f
er
en
t
ial
d
r
iv
e
m
o
b
ile
r
o
b
o
t m
o
d
el
2
.
2
.
G
ra
ph
t
heo
ry
Gr
ap
h
th
eo
r
y
is
em
p
lo
y
ed
to
m
o
d
el
th
e
co
m
m
u
n
icatio
n
to
p
o
lo
g
y
an
d
th
e
f
o
r
m
atio
n
s
tr
u
ctu
r
e
o
f
th
e
m
u
lti
-
r
o
b
o
t
s
y
s
tem
(
MRS
)
.
A
n
u
n
d
ir
ec
te
d
g
r
a
p
h
is
d
ef
in
ed
as
a
p
air
(
,
ℰ
)
,
wh
er
e
is
th
e
s
et
o
f
v
er
tices,
d
en
o
ted
as
=
[
1
,
2
,
…
,
]
an
d
co
r
r
esp
o
n
d
s
t
o
th
e
n
u
m
b
er
o
f
n
o
d
es,
w
h
ich
s
ig
n
if
ies
th
e
to
tal
n
u
m
b
e
r
o
f
r
o
b
o
ts
in
th
e
MRS
.
Ad
d
itio
n
ally
,
ℰ
r
ep
r
esen
ts
th
e
s
et
o
f
u
n
d
ir
ec
ted
ed
g
es,
wh
er
e
ℰ
⊆
×
.
T
h
e
ed
g
es
co
n
n
ec
t
p
ai
r
s
o
f
v
er
tices
s
u
ch
th
at
if
th
e
v
er
te
x
p
air
(
,
)
∈
ℰ
,
th
en
is
(
,
)
∈
ℰ
.
T
h
e
n
u
m
b
er
o
f
ed
g
es
s
atis
f
ies
∈
{
1
,
…
,
(
−
1
)
2
}
.
T
h
e
s
et
o
f
n
eig
h
b
o
u
r
s
o
f
v
er
tex
is
r
ep
r
esen
ted
b
y
(
ℰ
)
=
{
∈
|
(
,
)
∈
ℰ
}
.
Fu
r
th
er
illu
s
tr
atio
n
o
n
g
r
a
p
h
r
i
g
id
ity
th
eo
r
y
ca
n
b
e
f
o
u
n
d
in
Z
elaz
o
an
d
Z
h
ao
[
2
5
]
.
2
.
3
.
F
a
u
lt
d
et
ec
t
i
o
n
E
v
er
y
m
o
b
ile
r
o
b
o
t
i
n
th
is
wo
r
k
is
f
itted
with
a
L
iDAR
s
en
s
o
r
,
wh
ee
l
en
co
d
er
s
,
a
n
d
a
n
I
MU
t
o
en
ab
le
m
a
p
p
in
g
an
d
lo
ca
lizati
o
n
.
T
h
e
m
ai
n
g
o
al
o
f
th
e
s
tu
d
y
is
to
f
ix
L
iDAR
s
en
s
o
r
-
r
ela
ted
p
r
o
b
lem
s
.
T
h
e
liter
atu
r
e
h
as
d
escr
ib
e
d
a
r
an
g
e
o
f
d
ef
ec
t
d
etec
tio
n
an
d
is
o
latio
n
(
FDI
)
m
eth
o
d
s
[
2
6
]
.
T
h
e
f
au
lt
d
etec
tio
n
m
eth
o
d
u
s
ed
in
th
is
p
ap
er
co
m
p
u
tes
r
esid
u
als
u
s
in
g
two
in
d
ep
en
d
e
n
t
tech
n
iq
u
es:
i
)
b
y
co
m
p
ar
in
g
th
e
r
o
b
o
t'
s
s
tate
esti
m
atio
n
o
b
tain
ed
f
r
o
m
its
L
iDAR
s
en
s
o
r
with
th
at
o
f
a
co
r
r
esp
o
n
d
in
g
L
iDAR
s
en
s
o
r
m
o
u
n
te
d
o
n
an
o
th
er
r
o
b
o
t
with
in
t
h
e
MRS
)
an
d
ii
)
b
y
c
o
m
p
a
r
in
g
th
e
L
iDAR
-
b
ased
s
tate
e
s
tim
atio
n
with
th
e
f
u
s
ed
s
tate
esti
m
atio
n
d
er
iv
ed
f
r
o
m
h
eter
o
g
en
eo
u
s
o
n
b
o
ar
d
s
en
s
o
r
s
,
n
a
m
ely
th
e
wh
ee
l
e
n
co
d
e
r
s
an
d
I
MU
.
An
ex
ten
d
ed
Kalm
an
Fil
ter
(
E
KF)
co
m
b
in
es
wh
ee
l
en
co
d
e
r
s
an
d
I
MU
d
ata
to
ac
c
o
m
p
lis
h
s
en
s
o
r
f
u
s
io
n
.
I
f
th
e
r
esid
u
als
co
m
p
u
ted
u
s
in
g
b
o
t
h
m
eth
o
d
s
ex
ce
ed
a
p
r
ed
e
f
in
ed
th
r
esh
o
ld
,
th
is
s
er
v
es
as
an
in
d
icatio
n
th
at
th
e
L
iDAR
s
en
s
o
r
h
as e
n
co
u
n
ter
ed
a
f
au
lt
.
3.
RO
B
O
T
R
E
P
L
AC
E
M
E
NT
AP
P
RO
ACH
I
n
m
u
lt
i
-
r
o
b
o
t
s
y
s
te
m
s
(
M
R
S
)
,
r
o
b
o
t
s
ar
e
p
r
o
g
r
a
m
m
e
d
t
o
f
o
r
m
u
n
iq
u
e
g
eo
m
et
r
i
c
ar
r
an
g
e
m
e
n
t
s
cu
s
to
m
i
z
ed
t
o
t
h
e
r
e
q
u
ir
e
m
en
t
s
o
f
d
i
v
er
s
e
j
o
b
s
,
in
c
lu
d
in
g
m
a
t
er
i
a
l
h
an
d
l
in
g
,
s
ea
r
c
h
o
p
er
a
ti
o
n
s
,
an
d
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
7
2
2
-
2
5
8
6
I
AE
S I
n
t J Ro
b
&
Au
to
m
,
Vo
l
.
1
4
,
No
.
4
,
Dec
em
b
er
2
0
2
5
:
31
1
-
3
1
9
314
ag
r
i
cu
l
tu
r
a
l
a
p
p
l
ic
a
ti
o
n
s
.
C
er
ta
in
t
a
s
k
s
i
n
v
o
l
v
e
e
x
a
c
t
s
p
a
t
ia
l
f
o
r
m
at
i
o
n
s
to
en
s
u
r
e
o
p
ti
m
al
p
er
f
o
r
m
an
c
e.
H
o
w
ev
er
,
th
e
o
c
c
u
r
r
en
c
e
o
f
f
au
lt
s
i
n
in
d
i
v
i
d
u
a
l
r
o
b
o
t
s
p
o
s
e
s
a
co
n
s
id
er
ab
l
e
d
if
f
i
cu
l
ty
,
a
s
it
m
i
g
h
t
l
ea
d
to
th
e
i
s
o
la
ti
o
n
o
f
th
e
af
f
e
ct
e
d
r
o
b
o
t
an
d
,
s
u
b
s
eq
u
e
n
tl
y
,
u
p
s
et
th
e
o
v
e
r
a
l
l
s
y
s
t
e
m
d
e
s
ig
n
.
T
o
a
d
d
r
e
s
s
th
i
s
i
s
s
u
e,
th
e
p
r
e
s
e
n
t
s
tu
d
y
p
r
o
v
i
d
e
s
a
R
o
b
o
t
R
e
p
l
a
ce
m
e
n
t
ap
p
r
o
a
c
h
a
i
m
ed
at
p
r
e
s
er
v
in
g
s
y
s
t
e
m
f
u
n
c
ti
o
n
al
i
ty
an
d
f
o
r
m
at
i
o
n
i
n
t
e
g
r
i
ty
in
t
h
e
ev
e
n
t
o
f
r
o
b
o
t
d
ef
e
ct
s
.
T
h
e
p
r
o
p
o
s
e
d
s
o
lu
ti
o
n
i
n
v
o
l
v
e
s
r
e
p
l
a
c
in
g
m
a
lf
u
n
ct
io
n
i
n
g
r
o
b
o
t
s
w
it
h
i
n
t
h
e
M
R
S
t
o
p
r
e
s
er
v
e
th
e
d
e
s
ir
e
d
c
o
n
f
i
g
u
r
a
t
io
n
.
T
h
e
s
y
s
t
e
m
u
n
d
er
d
i
s
cu
s
s
io
n
co
m
p
r
i
s
e
s
o
f
f
iv
e
r
o
b
o
t
s
,
w
h
er
e
th
r
e
e
r
o
b
o
t
s
a
ct
iv
e
ly
m
a
in
t
ai
n
a
tr
ia
n
g
u
l
ar
ar
r
a
n
g
e
m
en
t,
a
n
d
t
w
o
f
u
n
c
ti
o
n
a
s
r
ed
u
n
d
a
n
c
y
u
n
it
s
ca
p
ab
le
o
f
s
w
ap
p
i
n
g
f
au
lt
y
o
n
e
s
.
T
h
e
s
et
s
o
f
a
c
ti
v
e
r
o
b
o
t
s
,
r
ed
u
n
d
a
n
t
r
o
b
o
t
s
,
an
d
th
e
d
e
s
ig
n
a
t
ed
le
a
d
e
r
ar
e
la
b
el
le
d
a
s
f
o
ll
o
w
s
:
A
=
1
,
2
,
3
},
R
=
{
4
,
5
},
a
n
d
L
=1
,
r
e
s
p
ec
t
iv
el
y
.
H
er
e,
A
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ates
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etim
es
r
eq
u
ir
es
ca
li
b
r
atio
n
b
etwe
en
t
h
e
L
iDAR
an
d
its
m
o
to
r
.
T
o
a
d
d
r
ess
s
u
ch
f
au
lts
,
th
is
s
tu
d
y
em
p
lo
y
s
th
e
r
o
b
o
t
r
e
p
lace
m
e
n
t
m
eth
o
d
,
wh
ic
h
r
ep
lace
s
th
e
f
au
lty
r
o
b
o
t
with
a
f
u
n
ctio
n
al
o
n
e.
W
h
en
R
o
b
o
t
2
f
ails
,
it
i
s
r
em
o
v
ed
f
r
o
m
th
e
ac
tiv
e
r
o
b
o
t
s
et,
in
itially
d
ef
in
ed
as
A
=
{1
,
2
,
3
},
an
d
m
o
v
e
d
to
a
p
r
e
d
et
er
m
in
ed
lo
ca
tio
n
o
n
th
e
m
ap
.
A
r
eser
v
ed
r
o
b
o
t,
r
o
b
o
t
4
s
elec
ted
f
r
o
m
th
e
r
es
er
v
ed
r
o
b
o
t
s
et
R
=
{4
,
5
}
th
en
tak
es
its
p
lace
.
T
h
is
u
p
d
at
es
th
e
ac
tiv
e
s
et
to
A
=
{1
,
3
,
4
}
an
d
th
e
r
eser
v
ed
r
o
b
o
ts
s
et
to
S =
{5
}.
T
h
e
r
e
p
lace
m
en
t p
r
o
ce
s
s
is
illu
s
tr
ated
in
Fig
u
r
e
5
.
Fig
u
r
e
5
.
R
o
b
to
2
is
o
latio
n
an
d
r
ep
lace
m
en
t
As
illu
s
tr
ated
in
Fig
u
r
e
5
,
r
o
b
o
t
4
s
u
cc
ess
f
u
lly
co
n
v
er
g
es to
th
e
p
o
s
tu
r
e
(
2
7
.
8
,
2
4
.
6
)
,
jo
in
in
g
r
o
b
o
ts
1
an
d
2
.
T
h
is
estab
lis
h
es
th
e
ac
t
iv
e
r
o
b
o
t
s
et
A
=
{1
,
3
,
4
}
in
a
tr
ian
g
le
s
h
ap
e.
Me
an
w
h
ile,
th
e
m
alf
u
n
ctio
n
in
g
r
o
b
o
t
2
is
s
ep
ar
ated
f
r
o
m
th
e
MRS
an
d
g
o
es
to
its
d
esig
n
ated
is
o
latio
n
p
o
in
t
at
(
1
0
,
5
)
.
Fig
u
r
e
6
ex
h
ib
its
er
r
o
r
s
in
r
o
b
o
t
f
o
r
m
atio
n
i
n
ca
s
e
a
r
o
b
o
t
en
co
u
n
ter
s
a
f
a
u
lt,
t
h
e
d
is
tan
ce
an
d
an
g
le
er
r
o
r
s
o
f
r
o
b
o
t
4
r
elativ
e
to
th
e
lead
er
R
1
ar
e
illu
s
tr
ated
in
Fig
u
r
e
6
(
a)
an
d
Fig
u
r
e
6
(
b
)
r
esp
ec
tiv
ely
.
T
h
e
r
esu
lts
r
ev
ea
l
th
at
r
o
b
o
t
4
s
u
cc
ess
f
u
lly
s
tab
ilizes in
f
o
r
m
atio
n
,
attain
in
g
a
f
in
al
d
is
tan
c
e
er
r
o
r
o
f
0
.
1
5
m
an
d
an
a
n
g
le
er
r
o
r
o
f
0
.
6
5
°.
(
a)
(
b
)
Fig
u
r
e
6
.
Sin
g
le
r
o
b
o
t f
au
lt
:
(a
)
d
is
tan
ce
er
r
o
r
r
elativ
e
to
t
h
e
lead
er
r
o
b
o
t 1
a
n
d
(
b
)
o
r
ien
tatio
n
er
r
o
r
r
elativ
e
t
o
th
e
lead
er
r
o
b
o
t
1
Evaluation Warning : The document was created with Spire.PDF for Python.
I
AE
S
I
n
t
J
R
o
b
&
A
u
to
m
I
SS
N:
2722
-
2
5
8
6
Mo
b
ile
r
o
b
o
t rep
la
ce
men
t in
mu
lti
-
r
o
b
o
t fa
u
lt
-
to
lera
n
t fo
r
m
a
tio
n
(
A
h
med
Mo
u
s
ta
fa
E
ls
a
y
ed
)
317
5.
DIS
CU
SS
I
O
N
T
h
e
s
im
u
latio
n
r
esu
lts
p
r
esen
ted
in
th
is
s
tu
d
y
d
em
o
n
s
tr
ate
th
e
ef
f
ec
tiv
en
ess
o
f
th
e
p
r
o
p
o
s
ed
r
o
b
o
t
r
ep
lace
m
en
t
s
tr
ateg
y
in
m
ain
t
ain
in
g
f
o
r
m
atio
n
in
teg
r
ity
an
d
m
is
s
io
n
co
n
tin
u
ity
in
MRS
e
x
p
er
ien
cin
g
s
en
s
o
r
f
au
lts
.
I
n
b
o
th
f
au
lt
-
f
r
ee
an
d
f
au
lt
s
ce
n
ar
io
s
,
th
e
s
y
s
tem
s
u
cc
ess
f
u
lly
p
r
eser
v
ed
th
e
tr
ian
g
u
lar
f
o
r
m
atio
n
,
in
d
icatin
g
th
e
r
o
b
u
s
tn
ess
o
f
th
e
r
o
b
o
t
r
e
p
lace
m
en
t
ap
p
r
o
ac
h
.
T
h
e
s
m
o
o
th
tr
a
n
s
itio
n
f
r
o
m
a
f
au
lty
r
o
b
o
t
to
a
r
eser
v
e
u
n
it,
co
u
p
led
with
r
a
p
id
co
n
v
er
g
en
ce
to
d
esire
d
s
p
at
ial
co
n
f
ig
u
r
atio
n
s
,
em
p
h
asizes
th
e
p
r
ac
ticality
o
f
in
teg
r
atin
g
r
e
d
u
n
d
an
cy
in
f
o
r
m
atio
n
-
cr
itical
task
s
.
Ho
we
v
er
,
wh
ile
th
e
s
im
u
latio
n
p
r
o
v
id
es
en
co
u
r
ag
in
g
ev
id
en
ce
,
r
ea
l
-
wo
r
ld
im
p
lem
e
n
tatio
n
s
m
ay
en
co
u
n
te
r
ad
d
iti
o
n
al
ch
allen
g
es,
s
u
ch
as
co
m
m
u
n
icatio
n
laten
cy
,
u
n
s
tr
u
ctu
r
ed
en
v
ir
o
n
m
en
ts
,
an
d
u
n
f
o
r
eseen
s
en
s
o
r
n
o
is
e
o
r
h
ar
d
war
e
lim
itatio
n
s
.
Mo
r
eo
v
er
; f
u
tu
r
e
wo
r
k
m
u
s
t
co
n
s
id
er
co
n
c
u
r
r
en
t
m
u
lti
-
r
o
b
o
t
f
au
lts
.
E
n
h
an
ce
m
en
ts
in
r
ea
l
-
tim
e
f
au
lt
d
iag
n
o
s
is
,
in
clu
d
in
g
a
d
ap
tiv
e
th
r
esh
o
ld
s
o
r
m
ac
h
in
e
lear
n
in
g
-
b
ased
an
o
m
aly
d
etec
ti
o
n
,
co
u
ld
f
u
r
th
er
im
p
r
o
v
e
s
y
s
tem
r
esi
lien
ce
.
Ultim
ately
,
ex
ten
d
in
g
th
e
f
r
a
m
ewo
r
k
to
p
h
y
s
ical
r
o
b
o
t
p
lat
f
o
r
m
s
will
b
e
ess
en
tial
to
v
alid
ate
th
e
s
im
u
latio
n
r
esu
lts
u
n
d
er
r
ea
lis
tic
co
n
d
itio
n
s
an
d
ass
ess
th
e
f
ea
s
ib
i
lity
o
f
d
ep
lo
y
i
n
g
s
u
ch
s
y
s
tem
s
in
in
d
u
s
tr
ial,
ag
r
icu
ltu
r
al,
o
r
s
ea
r
ch
-
a
n
d
-
r
escu
e
o
p
er
atio
n
s
.
6.
CO
NCLU
SI
O
N
T
h
is
p
ap
er
i
n
tr
o
d
u
ce
s
a
r
o
b
o
t
r
ep
lace
m
en
t
a
p
p
r
o
ac
h
to
im
p
r
o
v
e
f
au
lt
to
le
r
an
ce
in
M
R
S,
wh
er
e
m
ain
tain
in
g
f
o
r
m
atio
n
s
ize
is
cr
u
cial.
T
h
e
f
r
am
ewo
r
k
was
test
ed
in
s
im
u
latio
n
s
em
p
lo
y
in
g
f
iv
e
d
if
f
er
en
tial
wh
ee
led
m
o
b
ile
r
o
b
o
ts
:
th
r
ee
f
o
r
m
in
g
a
tr
ia
n
g
le
lead
er
-
f
o
l
lo
wer
co
n
f
ig
u
r
atio
n
an
d
two
s
er
v
in
g
as
s
p
ar
es.
Up
o
n
f
ailu
r
e
,
an
ac
tiv
e
r
o
b
o
t
was
tr
an
s
f
er
r
ed
to
a
s
p
ec
if
ied
is
o
latio
n
p
o
s
itio
n
an
d
r
e
p
lace
d
b
y
th
e
l
o
west
-
I
D
av
ailab
le
s
p
ar
e
r
o
b
o
t,
g
u
ar
a
n
t
ee
in
g
f
o
r
m
atio
n
s
tab
ilit
y
a
n
d
s
y
s
tem
r
esil
ien
ce
.
T
h
e
p
r
o
p
o
s
ed
tech
n
o
lo
g
y
h
as
co
n
s
id
er
ab
le
p
o
te
n
tial
f
o
r
in
d
u
s
tr
ial
au
to
m
atio
n
,
in
clu
d
i
n
g
m
ater
ial
h
an
d
lin
g
,
l
o
g
is
tics
,
an
d
s
ea
r
ch
-
an
d
-
r
escu
e
o
p
er
atio
n
s
.
Fu
tu
r
e
wo
r
k
p
e
n
d
in
g
ad
d
itio
n
al
f
u
n
d
in
g
will
f
o
c
u
s
o
n
r
ea
l
-
w
o
r
ld
MRS
im
p
lem
en
tatio
n
an
d
s
tr
en
g
th
en
in
g
f
au
lt id
en
tific
ati
o
n
,
s
u
ch
as r
ea
l
-
tim
e
L
iDAR
in
ten
s
ity
m
o
n
ito
r
i
n
g
f
o
r
en
h
an
ce
d
d
iag
n
o
s
tics
.
F
UNDING
I
NF
O
R
M
A
T
I
O
N
T
h
e
au
th
o
r
s
s
tate
n
o
f
u
n
d
in
g
is
in
v
o
lv
ed
.
AUTHO
R
CO
NT
RI
B
UT
I
O
NS ST
A
T
E
M
E
N
T
T
h
is
jo
u
r
n
al
u
s
es
th
e
C
o
n
tr
ib
u
to
r
R
o
les
T
ax
o
n
o
m
y
(
C
R
ed
iT)
to
r
ec
o
g
n
ize
in
d
iv
id
u
al
au
th
o
r
co
n
tr
ib
u
tio
n
s
,
r
ed
u
ce
au
th
o
r
s
h
ip
d
is
p
u
tes,
an
d
f
ac
ilit
ate
co
llab
o
r
atio
n
.
Na
m
e
o
f
Aut
ho
r
C
M
So
Va
Fo
I
R
D
O
E
Vi
Su
P
Fu
Ah
m
ed
M
.
E
ls
ay
ed
✓
✓
✓
✓
✓
✓
✓
✓
✓
✓
✓
Mo
h
am
ed
E
ls
h
alak
a
n
i
✓
✓
✓
✓
Sh
er
if
A
li
Ham
m
ad
✓
✓
✓
Sh
ad
y
Ah
m
ed
Ma
g
ed
✓
✓
✓
✓
C
:
C
o
n
c
e
p
t
u
a
l
i
z
a
t
i
o
n
M
:
M
e
t
h
o
d
o
l
o
g
y
So
:
So
f
t
w
a
r
e
Va
:
Va
l
i
d
a
t
i
o
n
Fo
:
Fo
r
mal
a
n
a
l
y
s
i
s
I
:
I
n
v
e
s
t
i
g
a
t
i
o
n
R
:
R
e
so
u
r
c
e
s
D
:
D
a
t
a
C
u
r
a
t
i
o
n
O
:
W
r
i
t
i
n
g
-
O
r
i
g
i
n
a
l
D
r
a
f
t
E
:
W
r
i
t
i
n
g
-
R
e
v
i
e
w
&
E
d
i
t
i
n
g
Vi
:
Vi
su
a
l
i
z
a
t
i
o
n
Su
:
Su
p
e
r
v
i
s
i
o
n
P
:
P
r
o
j
e
c
t
a
d
mi
n
i
st
r
a
t
i
o
n
Fu
:
Fu
n
d
i
n
g
a
c
q
u
i
si
t
i
o
n
CO
NF
L
I
C
T
O
F
I
N
T
E
R
E
S
T
ST
A
T
E
M
E
NT
T
h
e
au
th
o
r
s
s
tate
n
o
co
n
f
lict o
f
in
ter
est.
DATA AV
AI
L
AB
I
L
I
T
Y
T
h
e
au
th
o
r
s
co
n
f
ir
m
th
at
th
e
d
ata
s
u
p
p
o
r
tin
g
th
e
f
in
d
in
g
s
o
f
th
is
s
tu
d
y
ar
e
av
ailab
le
in
t
h
e
ar
ticle.
RE
F
E
R
E
NC
E
S
[
1
]
B
.
K
h
a
l
e
g
h
i
,
A
.
K
h
a
mi
s,
F
.
O
.
K
a
r
r
a
y
,
a
n
d
S
.
N
.
R
a
z
a
v
i
,
“
M
u
l
t
i
s
e
n
s
o
r
d
a
t
a
f
u
s
i
o
n
:
A
r
e
v
i
e
w
o
f
t
h
e
s
t
a
t
e
-
of
-
t
h
e
-
a
r
t
,
”
I
n
f
o
rm
a
t
i
o
n
Fu
si
o
n
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