High level techniques for self-repairing robotic systems

摘要: Usually, robotic fault-tolerance techniques refer to methods to isolate and treat faults individually. In this work we propose high level (planning) techniques for a new approach, where multiple, possibly heterogeneous devices in a robotic system cooperate to diagnose faults and to take over a faulty device’s functions in the system. This technique uses pre-defined “replacement plans” to deal with faults, avoiding costly online replanning.