Towards a Virtual Machine Approach to Resilient and Safe Mobile Robots

Marian Sorin Adam, Marco Kuhrmann, Ulrik Pagh Schultz

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Abstrakt

Mobile robots are advanced systems that often need to operate in unstructured environments, which raises the complexity of the software. Many components are important for the overall reliability and safety of the robot, but reducing the risk of errors by making the software resilient is both complicated and expensive. Nevertheless, a commercially successful robot often has to remain safe while maintaining as much as possible from the required functionality, even in the presence of partial failures. In this paper, we propose a flexible way to improve the reliability of existing robot software, enabling a wide range of strategies for graceful degradation in the presence of partial failures. We use standard virtualization techniques as a flexible means to segregate the safety-critical parts of the system, combined with an automatically generated runtime monitoring component in charge of fast switching between different implementations of the non-critical parts of the system. We report on the overall architecture and implementation, and demonstrate our approach using software for a commercial mobile robot.
OriginalsprogEngelsk
TitelProceedings of the 21st IEEE International Conference on Emerging Technology and Factory Automation
Antal sider8
ForlagIEEE Press
Publikationsdato2016
ISBN (Trykt)978-1-5090-1315-9
ISBN (Elektronisk)978-1-5090-1314-2, 978-1-5090-1313-5
DOI
StatusUdgivet - 2016
Begivenhed21st IEEE International Conference on Emerging Technologies and Factory Automation - Berlin, Tyskland
Varighed: 6. sep. 20169. sep. 2016
Konferencens nummer: 21
http://www.etfa2016.org/index.php

Konference

Konference21st IEEE International Conference on Emerging Technologies and Factory Automation
Nummer21
Land/OmrådeTyskland
ByBerlin
Periode06/09/201609/09/2016
Internetadresse
NavnI E E E International Conference on Emerging Technologies and Factory Automation. Proceedings
ISSN1946-0740

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