Beitrag in einem Tagungsband
RoSHA: A Multi-Robot Self-Healing Architecture



Details zur Publikation
Autor(inn)en:
Kirchner, D.; Geihs, K.; Niemczyk, S.
Herausgeber:
RoboCup
Verlag:
RoboCup
Verlagsort / Veröffentlichungsort:
Eindhoven, The Netherlands
Publikationsjahr:
2013
Seitenbereich:
1-12
Buchtitel:
Annual RoboCup International Symposium
Jahrgang/Band:
17
Heftnummer:
17

Zusammenfassung, Abstract
Reliability is one of the key challenges in multi-robot systems to increase practicable applicability and hence the commercial usage. This paper presents RoSHA, a self-healing architecture for multi-robot systems. RoSHA is based on the established robot middleware ROS and provides components for application independent analysis and repair. A plug-in architecture enables the developer to simply add new components for repair and analysis. Bayesian networks are used to diagnose failures and their root causes. ALICA, a domain specific language for multi-robot systems, is applied to coordinate recovery plans in multi-robot systems.


Autor(inn)en / Herausgeber(innen)

Zuletzt aktualisiert 2019-07-05 um 10:22