Fault tolerant and adaptive path planning in crowded environments for mobile robots based on hazard estimation via health signals

Raphael Maas; Erik Maehle

Fault tolerant and adaptive path planning in crowded environments for mobile robots based on hazard estimation via health signals

Raphael Maas, Erik Maehle

Institute of Computer Engineering

Abstract

Mobile robots are complex systems that tend to become even more complex. Since these systems show often graceful degradation in case of hardware faults the applied control strategies should be taken into account. The overall fitness of a robot can be condensed into health signals. Depending on this signal the control of the robot can be adjusted to counteract reduced sensing or acting capabilities, by following the design principles of organic computing. This work introduces techniques to estimate possible hazards that are introduced by the presence of obstacles in the close proximity of a damaged robot and might threaten its task.

Original language	English
Title of host publication	2012 International Conference on Architecture of Computing Systems, ARCS 2012
Number of pages	7
Publisher	IEEE
Publication date	30.07.2012
Pages	1-7
Article number	6222224
ISBN (Print)	978-1-4673-1913-3
ISBN (Electronic)	978-3-00-037922-2
Publication status	Published - 30.07.2012
Event	25th International Conference on Architecture of Computing Systems - Munich, Germany Duration: 28.02.2012 → 02.03.2012 Conference number: 88635

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@inproceedings{8cd1982028654ef9b7cce8c1fa47926b,

title = "Fault tolerant and adaptive path planning in crowded environments for mobile robots based on hazard estimation via health signals",

abstract = "Mobile robots are complex systems that tend to become even more complex. Since these systems show often graceful degradation in case of hardware faults the applied control strategies should be taken into account. The overall fitness of a robot can be condensed into health signals. Depending on this signal the control of the robot can be adjusted to counteract reduced sensing or acting capabilities, by following the design principles of organic computing. This work introduces techniques to estimate possible hazards that are introduced by the presence of obstacles in the close proximity of a damaged robot and might threaten its task.",

author = "Raphael Maas and Erik Maehle",

year = "2012",

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language = "English",

isbn = "978-1-4673-1913-3",

series = "IEEE Proceedings",

publisher = "IEEE",

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booktitle = "2012 International Conference on Architecture of Computing Systems, ARCS 2012",

note = "25th International Conference on Architecture of Computing Systems, ARCS 2012 ; Conference date: 28-02-2012 Through 02-03-2012",

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Maas, R & Maehle, E 2012, Fault tolerant and adaptive path planning in crowded environments for mobile robots based on hazard estimation via health signals. in 2012 International Conference on Architecture of Computing Systems, ARCS 2012., 6222224, IEEE Proceedings, IEEE, pp. 1-7, 25th International Conference on Architecture of Computing Systems, Munich, Bavaria, Germany, 28.02.12. <https://ieeexplore.ieee.org/document/6222224>

Fault tolerant and adaptive path planning in crowded environments for mobile robots based on hazard estimation via health signals. / Maas, Raphael; Maehle, Erik.
2012 International Conference on Architecture of Computing Systems, ARCS 2012. IEEE, 2012. p. 1-7 6222224 (IEEE Proceedings).

Research output: Chapters in Books/Reports/Conference Proceedings › Conference contribution › peer-review

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T1 - Fault tolerant and adaptive path planning in crowded environments for mobile robots based on hazard estimation via health signals

AU - Maas, Raphael

AU - Maehle, Erik

N1 - Conference code: 88635

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N2 - Mobile robots are complex systems that tend to become even more complex. Since these systems show often graceful degradation in case of hardware faults the applied control strategies should be taken into account. The overall fitness of a robot can be condensed into health signals. Depending on this signal the control of the robot can be adjusted to counteract reduced sensing or acting capabilities, by following the design principles of organic computing. This work introduces techniques to estimate possible hazards that are introduced by the presence of obstacles in the close proximity of a damaged robot and might threaten its task.

AB - Mobile robots are complex systems that tend to become even more complex. Since these systems show often graceful degradation in case of hardware faults the applied control strategies should be taken into account. The overall fitness of a robot can be condensed into health signals. Depending on this signal the control of the robot can be adjusted to counteract reduced sensing or acting capabilities, by following the design principles of organic computing. This work introduces techniques to estimate possible hazards that are introduced by the presence of obstacles in the close proximity of a damaged robot and might threaten its task.

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SN - 978-1-4673-1913-3

T3 - IEEE Proceedings

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BT - 2012 International Conference on Architecture of Computing Systems, ARCS 2012

PB - IEEE

T2 - 25th International Conference on Architecture of Computing Systems

Y2 - 28 February 2012 through 2 March 2012

ER -

Fault tolerant and adaptive path planning in crowded environments for mobile robots based on hazard estimation via health signals

Abstract

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