Towards Automated Online Diagnosis of Robot Navigation Software
Navigation software of autonomous mobile robots comprises a number of software modules that typically interact in a very complex way. Their proper interaction and the robustness of each single module strongly influence the safety during navigation in the field. Particularly in unstructured environments, unforeseen situations are likely to occur causing erroneous behaviors of the robot. The proper handling of such situations requires an understanding of cause and effect within the complex interactions of the system.
In this paper we present a method for the automatic modeling of navigation software components and their interactions by observing their communication patterns. The learned model is used online for model-based reasoning (MBR) in order to increase system robustness during runtime.
We evaluated the approach on three different robot systems whose software components are communicating via the widely used IPC (Inter Process Communication) architecture. Our results demonstrate the systems capability of automatic system learning and diagnosis without a priori knowledge.
KeywordsSystem Description Software Module Control Software Communication Graph Autonomous Mobile Robot
Unable to display preview. Download preview PDF.
- 1.Steinbauer, G., Wotawa, F.: Detecting and locating faults in the control software of autonomous mobile robots. In: 16th International Workshop on Principles of Diagnosis (DX 2005), Monetrey, USA, pp. 13–18 (2005)Google Scholar
- 5.Kleiner, A., Dornhege, C.: Real-time Localization and Elevation Mapping within Urban Search and Rescue Scenarios. Journal of Field Robotics (2007)Google Scholar
- 6.Ziparo, V., Kleiner, A., Nebel, B., Nardi, D.: RFID-based exploration for large robot teams. In: Conference on Robotics and Automation, pp. 4606–4613 (2007)Google Scholar
- 7.DTSA: Techx challenge (2008), http://www.dsta.gov.sg/index.php/TechX-Challenge
- 8.Simmons, R.: Structured Control for Autonomous Robots. IEEE Transactions on Robotics and Automation 10(1) (1994)Google Scholar
- 10.Micalizio, R., Torasso, P., Torta, G.: On-line monitoring and diagnosis of a team of service robots: A model-based approach. AI Communications 19(4) (2006)Google Scholar
- 11.Grosclaude, I.: Model-based monitoring of component-based software systems. In: 15th International Workshop on Principles of Diagnosis, Carcassonne, France, pp. 155–160 (2004)Google Scholar