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.
%0 Generic
%1 2013
%A Kirchner, Dominik
%A Niemczyk, Stefan
%A Geihs, Kurt
%B 17th Annual RoboCup International Symposium
%D 2013
%K diagnosis failure monitoring multi-robot recovery self-healing system
%T RoSHA: A Multi-Robot Self-Healing Architecture
%U http://das-lab.vs.eecs.uni-kassel.de/publications/KirchnerNiemczykGeihs2013-RoSHA.pdf
%X 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.
@conference{2013,
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.},
added-at = {2016-04-25T16:28:50.000+0200},
attachments = {https://141.51.121.1/sites/default/files/biblio/RoSHA.pdf},
author = {Kirchner, Dominik and Niemczyk, Stefan and Geihs, Kurt},
biburl = {https://www.bibsonomy.org/bibtex/2c0e68f759bfacb063fdad68098574bc9/cn},
booktitle = {17th Annual RoboCup International Symposium},
interhash = {1c2c46a90105c5ee665362d641c62ef9},
intrahash = {c0e68f759bfacb063fdad68098574bc9},
keywords = {diagnosis failure monitoring multi-robot recovery self-healing system},
month = {07},
school = {university of cassel},
timestamp = {2016-04-25T16:28:50.000+0200},
title = {RoSHA: A Multi-Robot Self-Healing Architecture},
url = {http://das-lab.vs.eecs.uni-kassel.de/publications/KirchnerNiemczykGeihs2013-RoSHA.pdf},
year = 2013
}