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)


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.


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


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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

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