NDLI: An integrated Diagnosis and Repair Architecture for ROS-Based Robot Systems

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An integrated Diagnosis and Repair Architecture for ROS-Based Robot Systems

Content Provider	Semantic Scholar
Author	Lepej, Peter Maurer, Johannes Steinbauer, Gerald Uran, Suzana Zaman, Safdar
Copyright Year	2012
Abstract	The paper presents a novel diagnosis and repair system for ROS-based robot systems. It is an extension to the existing ROS diagnostics stack. It comprises five major modules: (1) a diagnosis model server, (2) a set of system observers, (3) a model-based diagnosis engine, (4) a plannerbased repair engine and (5) a hardware diagnosis board. A diagnosis model is a logic-based description of the system’s correct behavior. The diagnosis engine obtains this model from diagnosis model server. Observers are software entities that observe particular properties of the system and provide information in standardized first order logic sentences. Using the observed information in combination with the model of the desired behavior of the robot system and model-based reasoning the diagnosis engine derives the root cause of a problem. The obtained diagnosis together with the observations is used by the repair engine. It uses an action planner and a description of available repair actions to derive a sequence of repair actions that brings the robot system back to nominal state. The hardware diagnosis board on one hand provides observations about the power status and consumption of hardware components and on the other hand allows to power up or down selected hardware components. The paper provides three contributions: a combination of diagnosis and repair, the integration of hardware and software and the integration into ROS.
File Format	PDF HTM / HTML
Alternate Webpage(s)	http://www.ist.tugraz.at/steinbauer_mediawiki/images/8/8a/Ros_diagnosis.pdf
Language	English
Access Restriction	Open
Content Type	Text
Resource Type	Article

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