Towards a Virtual Machine Approach to Resilient and Safe Mobile Robots

Marian Sorin Adam, Marco Kuhrmann, Ulrik Pagh Schultz

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

Abstract

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.
Original languageEnglish
Title of host publicationProceedings of the 21st IEEE International Conference on Emerging Technology and Factory Automation
Number of pages8
PublisherIEEE Press
Publication date2016
ISBN (Print)978-1-5090-1315-9
ISBN (Electronic)978-1-5090-1314-2, 978-1-5090-1313-5
DOIs
Publication statusPublished - 2016
Event21st IEEE International Conference on Emerging Technologies and Factory Automation - Berlin, Germany
Duration: 6. Sep 20169. Sep 2016
Conference number: 21
http://www.etfa2016.org/index.php

Conference

Conference21st IEEE International Conference on Emerging Technologies and Factory Automation
Number21
Country/TerritoryGermany
CityBerlin
Period06/09/201609/09/2016
Internet address
SeriesI E E E International Conference on Emerging Technologies and Factory Automation. Proceedings
ISSN1946-0740

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