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.
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.
