TY - GEN
T1 - Fault management of robot software components based on OPRoS
AU - Kim, Jong Young
AU - Yoon, Heebyung
AU - Kim, Sung Hoon
AU - Son, Sang Hyuk
PY - 2011
Y1 - 2011
N2 - Component-based robot development has been a vibrant research topic in robotics due to its reusability and interoperability benefits. However, robot application developers using robot components must invest non-trivial amount of time and effort applying fault tolerance techniques into their robot applications. Despite the need for a common, framework-level fault management, the majority of existing robot software frameworks has failed to provide systematic fault management features. In this paper, we propose a fault management method to detect, diagnose, isolate and recover faults based on the OPRoS software framework. The proposed method provides a collective, framework-level management for commonly encountered robot software faults, thereby reducing the application developers' efforts while enhancing the robot system reliability. To verify the effectiveness of the proposed approach, we have implemented a prototype reconnaissance robot using OPRoS components and injected different types of faults. The results of the experiments have shown that our approach effectively detects, diagnoses, and recovers component faults using the software framework.
AB - Component-based robot development has been a vibrant research topic in robotics due to its reusability and interoperability benefits. However, robot application developers using robot components must invest non-trivial amount of time and effort applying fault tolerance techniques into their robot applications. Despite the need for a common, framework-level fault management, the majority of existing robot software frameworks has failed to provide systematic fault management features. In this paper, we propose a fault management method to detect, diagnose, isolate and recover faults based on the OPRoS software framework. The proposed method provides a collective, framework-level management for commonly encountered robot software faults, thereby reducing the application developers' efforts while enhancing the robot system reliability. To verify the effectiveness of the proposed approach, we have implemented a prototype reconnaissance robot using OPRoS components and injected different types of faults. The results of the experiments have shown that our approach effectively detects, diagnoses, and recovers component faults using the software framework.
UR - http://www.scopus.com/inward/record.url?scp=79958016794&partnerID=8YFLogxK
U2 - 10.1109/ISORC.2011.41
DO - 10.1109/ISORC.2011.41
M3 - Conference contribution
AN - SCOPUS:79958016794
SN - 9780769543680
T3 - Proceedings - 2011 14th IEEE International Symposium on Object/Component/Service-Oriented Real-Time Distributed Computing, ISORC 2011
SP - 253
EP - 260
BT - Proceedings - 2011 14th IEEE International Symposium on Object/Component/Service-Oriented Real-Time Distributed Computing, ISORC 2011
T2 - 2011 14th IEEE International Symposium on Object/Component/Service-Oriented Real-Time Distributed Computing, ISORC 2011
Y2 - 28 March 2011 through 31 March 2011
ER -