Health-aware fault-tolerant control of multiple cooperating autonoumous vehicles

The paper deals with a problem of a work scheduling of a fleet of cooperating forklifts. Their cooperation means that they can perform a given interchangeability. Unfortunately, it causes an inevitable concurrency issue, which has to be resolved in an optimal way. Since the vehicles are autonomous, there are no human operators whose experience could be a selection criteria in solving the above problem. Thus, the paper proposes a novel health-aware-based cost function which takes into account predictions concerning current operational ability of vehicle batteries. To obtain these predictions a Takagi-Sugeno approach is proposed and validated using Li-Ion battery data set provided by NASA PCoE. Finally, it is incorporated into the health-aware fault tolerant control scheme, which can tolerate inevitable delays present in such a transportation system.