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Diagnosis and repair of dependent failures in the control system of a mobile autonomous robot

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Abstract

Detecting, locating and repairing faults is a hard task. This holds especially in cases where dependent failures occur in practice. In this paper we present a methodology which is capable of handling dependent failures. For this purpose we extend the model-based diagnosis approach by explicitely representing knowledge about such dependencies which are stored in a failure dependency graph. Beside the theoretical foundations we present algorithms for computing diagnoses and repair actions that are based on these extensions. Moreover, we introduce a case study which makes use of a larger control program of an autonomous and mobile robot. The case study shows that the proposed approach can be effectively used in practice.

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Authors and Affiliations

  1. Technische Universität Graz, Institute for Software Technology, Inffeldgasse 16b/2, 8010, Graz, Austria

    Jörg Weber & Franz Wotawa

Authors
  1. Jörg Weber
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  2. Franz Wotawa
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Correspondence to Jörg Weber.

Additional information

This research has been funded in part by the Austrian Science Fund (FWF) under grant P20199-N15.

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Weber, J., Wotawa, F. Diagnosis and repair of dependent failures in the control system of a mobile autonomous robot. Appl Intell 36, 511–528 (2012). https://doi.org/10.1007/s10489-008-0143-x

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  • DOI: https://doi.org/10.1007/s10489-008-0143-x

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