Advertisement

RoSHA: A Multi-robot Self-healing Architecture

  • Dominik Kirchner
  • Stefan Niemczyk
  • Kurt Geihs
Part of the Lecture Notes in Computer Science book series (LNCS, volume 8371)

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.

Keywords

self-healing multi-robot system system monitoring failure diagnosis system recovery 

References

  1. 1.
    Carlson, J., Member, S., Murphy, R.: How UGVs Physically Fail in the Field. IEEE Transactions on Robotics 21(3), 423–437 (2005)CrossRefGoogle Scholar
  2. 2.
    Carlson, J., Murphy, R.: Reliability analysis of mobile robots. In: International Conference on Robotics and Automation, vol. 1, pp. 274–281. IEEE (2003)Google Scholar
  3. 3.
    Huebscher, M., McCann, J.: A survey of autonomic computing degrees, models, and applications. ACM Computing Surveys 40(3), 1–28 (2008)CrossRefGoogle Scholar
  4. 4.
    Quigley, M., Conley, K., Brian, G., Josh, F., Tully, F., Jeremy, L., Rob, W., Andrew, N.: ROS: an open-source Robot Operating System. In: ICRA Workshop on Open Source Software. Number Figure 1 (2009)Google Scholar
  5. 5.
    Pearl, J.: Probabilistic Reasoning in Intelligent Systems: Networks of Plausible Inference. Morgan Kaufman Publ. Inc. (1997)Google Scholar
  6. 6.
    Shooman, M.: Reliability of Computer Systems and Networks: Fault Tolerance, Analysis, and Design. John Wiley & Sons, Inc. (2002)Google Scholar
  7. 7.
    Ghallab, M., Isi, C.K., Penberthy, S., Smith, D.E., Sun, Y., Weld, D.: PDDL - The Planning Domain Definition Language. Technical report, CVC TR-98-003/DCS TR-1165, Yale Center for Computational Vision and Control (1998)Google Scholar
  8. 8.
    Skubch, H.: Modelling and Controlling Behaviour of Cooperative Autonomous Mobile Robots. Phd thesis, University of Kassel (2012)Google Scholar
  9. 9.
    Kim, D., Park, S., Jin, Y., Chang, H.: SHAGE: a framework for self-managed robot software. In: Proceedings of the International Workshop on Self-adaptation and Self-managing Systems, pp. 79–85. ACM Press, Shanghai (2006)Google Scholar
  10. 10.
    Garlan, D., Cheng, S.W., Schmerl, B., Steenkiste, P.: Rainbow: Architecture- Based Self-Adaptation with Reusable. Computer 37(10), 46–54 (2004)CrossRefGoogle Scholar
  11. 11.
    Cheng, S.W., Garlan, D., Schmerl, B.: Evaluating the effectiveness of the Rainbow self-adaptive system. In: 2009 ICSE Workshop on Software Engineering for Adaptive and Self-Managing Systems, pp. 132–141 (May 2009)Google Scholar
  12. 12.
    Parker, L., Kannan, B.: Adaptive Causal Models for Fault Diagnosis and Recovery in Multi-Robot Teams. In: Intelligent Robots and Systems, pp. 2703–2710 (2006)Google Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 2014

Authors and Affiliations

  • Dominik Kirchner
    • 1
  • Stefan Niemczyk
    • 1
  • Kurt Geihs
    • 1
  1. 1.Distributed Systems GroupUniversity KasselKasselGermany

Personalised recommendations