Abstract
Ensuring fault tolerance of robotic systems is a challenge for factory automation. For this challenge, we propose behavior coordination strategies and optimal maintenance policy for multiple mobile robots. The coordination strategies enable a system to continue operating even if a working robot undergoes preventive maintenance or fails and undergoes corrective maintenance. In addition, working robots are allowed to undergo preventive maintenance at an optimal interval and corrective maintenance each time they fail. Finally, through simulation experiments, we demonstrate that the behavior coordination strategies and optimal maintenance policy are both effective for the fault-tolerant systems.
