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.
The project IMPERA is funded by the German Space Agency (DLR, Grant number: 50RA1112) with federal funds of the Federal Ministry of Economics and Technology (BMWi) in accordance with the parliamentary resolution of the German Parliament.
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Kirchner, D., Niemczyk, S., Geihs, K. (2014). RoSHA: A Multi-robot Self-healing Architecture. In: Behnke, S., Veloso, M., Visser, A., Xiong, R. (eds) RoboCup 2013: Robot World Cup XVII. RoboCup 2013. Lecture Notes in Computer Science(), vol 8371. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-662-44468-9_27
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DOI: https://doi.org/10.1007/978-3-662-44468-9_27
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