Fault Tolerant Planning for Critical Robots

9 years 17 days ago
Fault Tolerant Planning for Critical Robots
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 complex autonomous systems. The proposed mechanisms focus on development faults in planning models and heuristics, through the use of diversiļ¬cation. The paper presents an implementation of these mechanisms on an existing autonomous robot architecture, and evaluates their impact on performance and reliability through the use of fault injection.
Benjamin Lussier, Matthieu Gallien, Jér&eac
Added 02 Jun 2010
Updated 02 Jun 2010
Type Conference
Year 2007
Where DSN
Authors Benjamin Lussier, Matthieu Gallien, Jérémie Guiochet, Félix Ingrand, Marc-Olivier Killijian, David Powell
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