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Author:
Kleiner, Alexander (Albert-Ludwigs-Universität Freiburg)
Steinbauer, Gerald (Graz University of Technology) (Institute for Software Technology)
Wotawa, Franz (Graz University of Technology) (Institute for Software Technology)
Title:
Towards Automated Online Diagnosis of Robot Navigation Software
Publication type:
Conference paper (Refereed)
Language:
English
In:
Proc. of Int. Conf. on Simulation, Modeling and Programming for Autonomous Robots (SIMPAR)
Publisher: Springer
Series:
Lecture Notes in Computer Science, ISSN 1611-3349; 5325
Volume:
5325
Pages:
159-170
Year of publ.:
2008
URI:
urn:nbn:se:liu:diva-72539
Permanent link:
http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-72539
Subject category:
Robotics
Abstract(en) :

Control software of autonomous mobile robots comprises a number of software modules that typically interact in a very complex way. Their proper interaction and the robustness of each single module strongly influences the safety during navigation in the field. Particularly in unstructured environments, unforeseen situations are likely to occur, causing erroneous behaviors of the robot. The proper handling of such situations requires an understanding of cause and effect within the complex interactions of the system. In this paper we present an approach which is able to automatically derive a model of the communication behavior within a component-orientated control software. The model can be used for online diagnosis in order to increase system robustness during runtime. We demonstrate model learning and system diagnosis on three different robot systems which were controlled by software modules communicating based on the widely used IPC (Inter Process Communication) standard. The demonstrated learning and diagnosis was carried out without any a priori knowledge about the systems.

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2011-11-28
Created:
2011-11-28
Last updated:
2011-11-30
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