A Comparative Study of STPA Hierarchical Structures in Risk Analysis: The case of a Complex Multi-Robot Mobile System
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Date
2019-01-01
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Hal open science journal.Volume 18, 2019.pp 163-174
Abstract
Autonomous multi-robot systems are among the most complex systems to control, especially when
those robots navigate in fully hazardous and dynamic environments such as chemical analysis laboratories
which include dangerous and harmful products (poisonous, flammable, explosive...). This paper presents an
approach for systems-complex and theoretic safety assessment, also it considers their coordinating, cooperating
and collaborating using different control architectures (centralized, hierarchical and modified hierarchical). We
classified at first those control architectures according to their properties using Bowtie analysis method, and
then we used a systems-theoretic hazard analysis technique (STPA) to identify the potential safety hazard
scenarios and their causal factors .