Health signal generation in the ORCA (Organic robot control architecture) framework

Raphael Maas, Erik Maehle


This paper evaluates various information-theoretical methods for the generation of health signals in the Organic Robot Control Architecture (ORCA). Also a new method based on the joint probability distribution of signals is proposed. The results show that the new method is superior to the known ones for the studied worst-case artificial and real scenarios. As an example for the application of health signals in ORCA, an adaptable path planner is described which considers the health status of a partially damaged robot.

Original languageEnglish
Title of host publicationP232 - Informatik 2014
Number of pages12
Volume P-232
Place of PublicationBonn
PublisherGesellschaft für Informatik, Bonn
Publication date26.09.2014
ISBN (Print)978-388579626-8
Publication statusPublished - 26.09.2014
Event44th Annual Meeting of the Society for Computer Science, INFORMATICS 2014
- Vaihinger Campus der Universitat Stuttgart, Stuttgart, Germany
Duration: 22.09.201426.09.2014
Conference number: 110425


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