Abstract
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 language | English |
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Title of host publication | P232 - Informatik 2014 |
Number of pages | 12 |
Volume | P-232 |
Place of Publication | Bonn |
Publisher | Gesellschaft für Informatik, Bonn |
Publication date | 26.09.2014 |
Pages | 1327-1338 |
ISBN (Print) | 978-388579626-8 |
Publication status | Published - 26.09.2014 |
Event | 44th Annual Meeting of the Society for Computer Science, INFORMATICS 2014 - Vaihinger Campus der Universitat Stuttgart, Stuttgart, Germany Duration: 22.09.2014 → 26.09.2014 Conference number: 110425 |