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.
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.
