Large-scale structure assembly by multiple robots which may be broken

Abstract

This paper investigates how to design the limit of failure rate and the adjust number of robots in the distribution control of the multiple robots which may be broken through the simulation of space solar power satellite assembly. For this purpose, we conduct simulations with changing the failure rate of robots that employ our proposed deadlock avoidance method. Intensive simulations have revealed the following implications: (1) from the viewpoint of the completion rate, our deadlock avoidance method enables the robots to complete the assembly in 80% completion rate even if the 1/3 robots are broken; (2) from the viewpoint of the recovery rate (i.e., the rate of completing a task when some of robots are broken), the maximum failure rate which enables robots to complete the assembly in 80% is 0.2%, i.e., the 1/3 robots can be broken; and (3) when the failure rate is 0.2%, it is possible to maximize the completion rate from 80% to 90% by adjust the number of the robots. © 2010 Springer-Verlag Berlin Heidelberg.