37th Annual IEEE/IFIP International Conference on Dependable Systems and Networks (DSN'07) 2007
DOI: 10.1109/dsn.2007.50
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Fault Tolerant Planning for Critical Robots

Abstract: Autonomous robots offer alluring perspectives in numerous application domains: space rovers, satellites, medical assistants, tour guides, etc. However, a severe lack of trust in their dependability greatly reduces their possible usage. In particular, autonomous systems make extensive use of decisional mechanisms that are able to take complex and adaptative decisions, but are very hard to validate. This paper proposes a fault tolerance approach for decisional planning components, which are almost mandatory in c… Show more

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Cited by 21 publications
(17 citation statements)
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“…In [17], three basic mechanisms are identified to implement FDD in autonomous robot system architectures.…”
Section: Fault Detection and Diagnosismentioning
confidence: 99%
“…In [17], three basic mechanisms are identified to implement FDD in autonomous robot system architectures.…”
Section: Fault Detection and Diagnosismentioning
confidence: 99%
“…Figure 1 depicts one of the robots fetching a box from a conveyor for transportation. {cmuehlba,steinbauer}@ist.tugraz.at 2 Stephan Gspandl and Michael Reip are with incubedIT, Hart bei Graz, Austria. {gspandl,reip}@incubedit.com robots are autonomously able to handle transport orders using navigation and load handling.…”
Section: Introductionmentioning
confidence: 99%
“…Therefore, the dependability of the systems is of high interest in order to avoid expensive downtime or manual interventions. Dependability means that a robot provides correct services in nominal as well as adverse situations [2]. Faults introduced to the system during development and unexpected or unobserved problems in the interaction with the environment during operation negatively affect the dependability.…”
Section: Introductionmentioning
confidence: 99%
“…A reconfigurable system can be defined as a system with an architecture consisting of the components of the system and a configuration that specifies how these entities are used to meet a goal, and it has a mechanism to choose a new configuration and set it up in the process by itself. As indicated in [8], "Autonomous systems" have appeared largely in space exploration, elderly care and domestic service; they are particularly attractive for such applications because their advanced decisional mechanisms allow them to execute complex missions in uncertain environments. In [9], Williams and Nayak have proposed an idea that is "Immobile Robots" similar to the notion of total autonomous system.…”
Section: Introductionmentioning
confidence: 99%