Title :
The Process Information Space: The Importance of Data Flow in Robotic Systems
Author_Institution :
Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA
Abstract :
Data flow describes the motion of information through a robotic system. As this work investigates, data flow can also provide system-critical information about the robot that is useful for failure recognition, fault recovery and improved robot dependability. The approach developed in this paper applies a planning formulation to the observation and control of data flow through the reconfiguration of robot process connections. Simulated results are presented and a subterranean robot application is discussed
Keywords :
failure analysis; fault diagnosis; robots; data flow; failure recognition; fault recovery; process information space; robot dependability; robotic systems; system-critical information; Actuators; Decision making; Hardware; Mobile robots; Navigation; Orbital robotics; Robot sensing systems; Robotics and automation; Sensor systems; Switches;
Conference_Titel :
Robotics and Automation, 2007 IEEE International Conference on
Conference_Location :
Roma
Print_ISBN :
1-4244-0601-3
Electronic_ISBN :
1050-4729
DOI :
10.1109/ROBOT.2007.363802
