Metrics for quantifying system performance in intelligent, fault-tolerant multi-robot teams

— Any system that has the capability to diagnose and recover from faults is considered to be a fault-tolerant system. Additionally, the quality of the incorporated fault-tolerance has a direct impact on the overall performance of the system. Hence, being able to measure the extent and usefulness of faulttolerance exhibited by the system would provide the designer with a useful analysis tool for better understanding the system as a whole. Unfortunately, it is difficult to quantify system fault-tolerance on its own for intelligent systems. A more useful metric for evaluation is the “effectiveness” [6] measure of faulttolerance. The influence of fault-tolerance towards improving overall performance determines the overall effectiveness or quality of the system. In this paper, we outline applicationindependent metrics to measure fault-tolerance within the context of system performance. In addition, we also outline potential methods to better interpret the obtained measures towards u...

• Type: Conference
• Year: 2007
• Where: IROS
• Authors: Balajee Kannan, Lynne E. Parker
• Keywords: Effective Fault-tolerance, Fault-tolerance, Incorporated Fault-tolerance, IROS 2007, Robotics