An Integrated Model-Based Diagnosis and Repair Architecture for ROS-Based Robot Systems

被引：0

作者：

Zaman, Safdar ^{[1
]}

Steinbauer, Gerald ^{[1
]}

Maurer, Johannes ^{[1
]}

Lepej, Peter ^{[2
]}

Dran, Suzana ^{[2
]}

机构：

[1] Graz Univ Technol, Inst Software Technol, A-8010 Graz, Austria

[2] Univ Maribor, Fac Elect Engn & Comp Sci, Maribor, Slovenia

来源：

2013 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) | 2013年

关键词：

1ST PRINCIPLES;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Autonomous robots are artifacts that comprise a significant number of heterogeneous hardware and software components and interact with dynamic environments. Therefore, there is always a chance of faults at run-time that negatively affect the reliability of the system. In this paper we present a novel diagnosis and repair architecture for ROS-based robot systems. It is an extension to the existing ROS diagnostics stack and follows a model-based diagnosis and repair approach. In the paper we discuss the integrated diagnosis and repair architecture in detail. Moreover, we show its application to an example robot system and report first experimental results. The presented work provides three major contributions: a combination of diagnosis and repair, the integration of hardware and software, and the integration into ROS.

引用

页码：482 / 489

页数：8

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