Blackboard Architecture for Detecting and Notifying Failures for Component-Based Unmanned Systems

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Abstract

This paper describes the blackboard architecture that is capable of detecting the component failures/recoveries in the component-based unmanned systems and notifying them to the associated components. The blackboard architecture monitors each component of the system in order to detect its failures/recoveries at runtime and identify the causes of failures. Using the dependency relationships between components, the blackboard architecture performs impact analysis so that it determines the scope of failure/recovery notification in the components of the system. The notification messages delivered to the components can trigger safety actions against the failures. The prototypes of blackboard architecture have been developed for Microsoft Robotics Developer Studio (MSRDS) based unmanned systems and Robot Operating System (ROS) based unmanned systems. The prototypes are used to validate the blackboard architecture with an unmanned ground vehicle (UGV) system and a patrolling robot system as case studies.

Keywords

Blackboard architecture Detection Notification Component Unmanned system 

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Notes

Acknowledgements

This work was supported by the Industrial Foundation Technology Development Program of MKE/KEIT [10044006, Development of Open Robot Middleware Supporting User-Friend Developer Tools and Standard Robot API Components].

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© Springer Science+Business Media B.V. 2017

Authors and Affiliations

  1. 1.Department of Computer ScienceTexas Tech UniversityLubbockUSA
  2. 2.Department of Computer ScienceUniversity of Central MissouriWarrensburgUSA
  3. 3.Intelligent Robotics Research DivisionETRIDaejeonKorea

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