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Model-Based Reasoning for Self-Repair of Autonomous Mobile Robots

  • Michael Hofbaur
  • Johannes KÖb
  • Gerald Steinbauer
  • Franz Wotawa
Chapter
Part of the Studies in Computational Intelligence book series (SCI, volume 64)

Summary. Retaining functionality of a mobile robot in the presence of faults is of particular interest in autonomous robotics. From our experiences in robotics we know that hardware is one of the weak points in mobile robots. In this paper we present the foundations of a system that automatically monitors the driving device of a mobile robot. In case of a detected fault, e.g., a broken motor, the system automatically re-configures the robot in order to allow to reach a certain position. The described system is based on a generalized model of the motion hardware. The path-planner has only to change its behavior in case of a serious damage. The high-level control system remains the same. In the paper we present the model and the foundations of the diagnosis and re-configuration system.

Keywords

Mobile Robot Hybrid Automaton Autonomous Mobile Robot Path Planner Admissible Velocity 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2007

Authors and Affiliations

  • Michael Hofbaur
    • 1
  • Johannes KÖb
    • 1
  • Gerald Steinbauer
    • 2
  • Franz Wotawa
    • 2
  1. 1.Institute for Automation and ControlGraz University of TechnologyGrazAustria
  2. 2.Institute for Software TechnologyGraz University of TechnologyGrazAustria

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