Title :
Software self-recovery method of AUV based on micro-reboot
Author :
Shi, Chang-ting ; Zhang, Ru-bo ; Zhao, Jing
Author_Institution :
Coll. of Comput. Sci. & Technol., Harbin Eng. Univ., Harbin, China
Abstract :
According to the research on failure recovery of AUV software system, a method based on micro-reboot mechanism and Partially Observable Markov Decision Process (POMDP) model for solving failure recovery of AUV is presented. An analytical multi-level model is presented and a micro-reboot mechanism under Fine-grained is learned. Considering self-recovery theory and the applicability of POMDP model, a failure recovery model based on POMDP is established and the basic factors of model are given. Results of experiment prove the validity of algorithm and the applicability of the model.
Keywords :
Markov processes; control engineering computing; decision theory; mobile robots; observability; remotely operated vehicles; system recovery; underwater vehicles; AUV software system; analytical multilevel model; autonomous underwater vehicle; failure recovery; microreboot mechanism; partially observable Markov decision process model; self-recovery theory; software self-recovery method; Analytical models; Computational modeling; Intelligent control; Markov processes; Software algorithms; Software systems; Autonomous Underwater Vehicle (AUV); Micro-reboot; Partially Observable Markov Decision Process (POMDP); Self-recovery; Software system;
Conference_Titel :
Intelligent Control and Automation (WCICA), 2011 9th World Congress on
Conference_Location :
Taipei
Print_ISBN :
978-1-61284-698-9
DOI :
10.1109/WCICA.2011.5970677
