RoSHA: A Multi-robot Self-healing Architecture [chapter]

Dominik Kirchner, Stefan Niemczyk, Kurt Geihs
2014 Lecture Notes in Computer Science  
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
more » ... oot causes. ALICA, a domain specific language for multi-robot systems, is applied to coordinate recovery plans in multi-robot systems.
doi:10.1007/978-3-662-44468-9_27 fatcat:k2nab6fmuvgw7gg2j5qhricamq