Fault Tolerant Multi-sensor Localization: Experimental validation on a real case.

In this paper, we present a localization architecture for mobile robots. This architecture is fault tolerant in hardware in the perception sensors and software in the data fusion mechanisms. It implements two independent localization systems using two diversified Kalman filters, and provides error detection by the comparison technique and system recovery by the compensation method. An evaluation environment of the proposed architecture is set up, using real data acquisition with the Heudiasyc PACPUS laboratory platform, and then replaying these data with fault injection under Matlab.