相关论文: ROS Rescue : Fault Tolerance System for Robot Oper…
Recent advances in deep learning have provided new data-driven ways of controller design to replace the traditional manual synthesis and certification approaches. Employing neural network (NN) as controllers however, presents its own…
It is important to be able to establish formal performance bounds for autonomous systems. However, formal verification techniques require a model of the environment in which the system operates; a challenge for autonomous systems,…
In recent years, robots are required to be autonomous and their robotic software are sophisticated. Robots have a problem of insufficient performance, since it cannot equip with a high-performance microprocessor due to battery-power…
Modular Aerial Robot Systems (MARS) consist of multiple drone modules that are physically bound together to form a single structure for flight. Exploiting structural redundancy, MARS can be reconfigured into different formations to mitigate…
In the framework of the ESPRIT project 28620 "TIRAN" (tailorable fault tolerance frameworks for embedded applications), a toolset of error detection, isolation, and recovery components is being designed to serve as a basic means for…
Due to real-world dynamics and hardware uncertainty, robots inevitably fail in task executions, resulting in undesired or even dangerous executions. In order to avoid failures and improve robot performance, it is critical to identify and…
Fault tolerance overhead of high performance computing (HPC) applications is becoming critical to the efficient utilization of HPC systems at large scale. HPC applications typically tolerate fail-stop failures by checkpointing. Another…
A sensor network can be described as a collection of sensor nodes which co-ordinate with each other to perform some specific function. These sensor nodes are mainly in large numbers and are densely deployed either inside the phenomenon or…
Writing software for controlling robots is a complex task, usually demanding command of many programming languages and requiring significant experimentation. We believe that a bottom-up development process that complements traditional…
Bolting operations are critical in industrial assembly and in the maintenance of scientific facilities, requiring high precision and robustness to faults. Although robotic solutions have the potential to improve operational safety and…
This paper presents a framework that enables robots to automatically recover from assumption violations of high-level specifications during task execution. In contrast to previous methods relying on user intervention to impose additional…
Systems built on the Robot Operating System (ROS) are increasingly easy to assemble, yet hard to govern and reliably coordinate. Beyond the sheer number of subsystems involved, the difficulty stems from their diversity and interaction…
The control architecture of autonomous robots can be developed by programming and integrating multiple software components that individually control separate behaviors. This approach requires additional mechanisms to coordinate their…
Industrial robotic systems (IRS) are increasingly deployed in diverse environments, where failures can result in severe accidents and costly downtime. Ensuring the reliability of the software controlling these systems is therefore critical.…
In traditional robot behavior programming, the edit-compile-simulate-deploy-run cycle creates a large mental disconnect between program creation and eventual robot behavior. This significantly slows down behavior development because there…
The Robot Operating System (ROS) is rapidly becoming the de facto framework for building robotics systems, thanks to its flexibility and the large acceptance that it has received in the robotics community. With the growth of its popularity,…
In multi-robot systems where a central decision maker is specifying the movement of each individual robot, a communication failure can severely impair the performance of the system. This paper develops a motion strategy that allows robots…
Background: Large-scale biological jobs on high-performance computing systems require manual intervention if one or more computing cores on which they execute fail. This places not only a cost on the maintenance of the job, but also a cost…
Miniaturized satellites are currently not considered suitable for critical, high-priority, and complex multi-phased missions, due to their low reliability. As hardware-side fault tolerance (FT) solutions designed for larger spacecraft can…
Recently, there has been a surge in interest in safe and robust techniques within reinforcement learning (RL). Current notions of risk in RL fail to capture the potential for systemic failures such as abrupt stoppages from system failures…