ORCA - Towards an organic robotic control architecture

Florian Mösch, Marek Litza, Adam El Sayed Auf, Erik Maehle, Karl E. Großpietsch, Werner Brockmann


We are working on a modular and self-organizing component based software architecture for autonomous mobile robots. To reach a certain degree of fault-tolerance without analyzing all kinds of possible error conditions, "Organic Components" will be added to the system to detect recognize variations from a defined "normal state" and then try to find counter measures. Once an action is identified to help in certain situations, the component will store that information and use it if a similar situation is reached later. The system will be self-optimizing and self-healing. We started to evaluate adaptive filters as one possible implementation for components detecting deviations from the normal system state,

Original languageEnglish
Title of host publicationEuroNGI 2006, IWSOS 2006: Self-Organizing Systems
Number of pages3
Volume4124 LNCS
PublisherSpringer Verlag
Publication date01.01.2006
ISBN (Print)978-3-540-37658-3
ISBN (Electronic)978-3-540-37669-9
Publication statusPublished - 01.01.2006
Event1st International Workshop on Self-Organizing Systems and Third International Workshop on New Trends in Network Architectures and Services
- Passau , Germany
Duration: 18.09.200620.09.2006
Conference number: 68328


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