상세정보
학술대회
Fault Management of Robot Software Components based on OPRoS
- 저자
- 김종영, 윤희병, 김성훈, 손상혁
- 발행일
- 201103
- 출처
- International Symposium on Object/Component/Service-Oriented Real-Time Distributed Computing (ISORC) 2011, pp.253-260
- 협약과제
- 10MC9300, OPRos프레임워크 신뢰성 보장 기술개발, 김성훈
- 초록
- Component-based robot development has been a vibrant research topic in robotics due to its reusability and interoperability benefits. However, robot application developers using robot components must invest non-trivial amount of time and effort applying fault tolerance techniques into their robot applications. Despite the need for a common, framework-level fault management, the majority of existing robot software frameworks has failed to provide systematic fault management features. In this paper, we propose a fault management method to detect, diagnose, isolate and recover faults based on the OPRoS software framework. The proposed method provides a collective, framework-level management for commonly encountered robot software faults, thereby reducing the application developers' efforts while enhancing the robot system reliability. To verify the effectiveness of the proposed approach, we have implemented a prototype reconnaissance robot using OPRoS components and injected different types of faults. The results of the experiments have shown that our approach effectively detects, diagnoses, and recovers component faults using the software framework. © 2011 IEEE.
- KSP 제안 키워드
- Component-based, Fault tolerance, Robot System, Robot applications, Software Framework, Software faults, System Reliability, application developers, component faults, fault management, need for