RoSHA: A Multi-robot Self-healing Architecture
作者： Dominik Kirchner , Stefan Niemczyk , Kurt Geihs
DOI: 10.1007/978-3-662-44468-9_27
关键词:
摘要: Reliability is one of the key challenges in multi-robot systems to increase practicable applicability and hence commercial usage. This paper presents RoSHA, a self-healing architecture for systems. RoSHA based on established robot middleware ROS provides components application independent analysis repair. A plug-in enables developer simply add new repair analysis. Bayesian networks are used diagnose failures their root causes. ALICA, domain specific language systems, applied coordinate recovery plans
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