Conference proceedings article
RoSHA: A Multi-Robot Self-Healing Architecture



Publication Details
Authors:
Kirchner, D.; Geihs, K.; Niemczyk, S.
Editor:
RoboCup
Publisher:
RoboCup
Place:
Eindhoven, The Netherlands
Publication year:
2013
Pages range:
1-12
Book title:
Annual RoboCup International Symposium
Volume number:
17
Issue number:
17

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.

Last updated on 2019-07-05 at 10:22