Abstract
We are working on a modular and self-organizing component based software architecture for autonomous mobile robots. To reach a certain degree of fault-tolerance without analyzing all kinds of possible error conditions, “Organic Components” will be added to the system to detect recognize variations from a defined “normal state” and then try to find counter measures. Once an action is identified to help in certain situations, the component will store that information and use it if a similar situation is reached later. The system will be self-optimizing and self-healing. We started to evaluate adaptive filters as one possible implementation for components detecting deviations from the normal system state.
This work is supported by DFG (SPP 1183, MA 1412/7-1).
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Mösch, F., Litza, M., El Sayed Auf, A., Maehle, E., Großpietsch, K.E., Brockmann, W. (2006). ORCA – Towards an Organic Robotic Control Architecture. In: de Meer, H., Sterbenz, J.P.G. (eds) Self-Organizing Systems. EuroNGI IWSOS 2006 2006. Lecture Notes in Computer Science, vol 4124. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11822035_24
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DOI: https://doi.org/10.1007/11822035_24
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