%0 Generic %1 2013 %A Kirchner, Dominik %A Niemczyk, Stefan %A Geihs, Kurt %B 17th Annual RoboCup International Symposium %D 2013 %K diagnosis failure monitoring multi-robot recovery self-healing system %T RoSHA: A Multi-Robot Self-Healing Architecture %U http://das-lab.vs.eecs.uni-kassel.de/publications/KirchnerNiemczykGeihs2013-RoSHA.pdf %X Reliability is one of the key challenges in multi-robot systems to increase practicable applicability and hence the commercial usage. This paper presents RoSHA, a self-healing architecture for multi-robot systems. RoSHA is based on the established robot middleware ROS and provides components for application independent analysis and repair. A plug-in architecture enables the developer to simply add new components for repair and analysis. Bayesian networks are used to diagnose failures and their root causes. ALICA, a domain specific language for multi-robot systems, is applied to coordinate recovery plans in multi-robot systems.

@conference{2013, abstract = { Reliability is one of the key challenges in multi-robot systems to increase practicable applicability and hence the commercial usage. This paper presents RoSHA, a self-healing architecture for multi-robot systems. RoSHA is based on the established robot middleware ROS and provides components for application independent analysis and repair. A plug-in architecture enables the developer to simply add new components for repair and analysis. Bayesian networks are used to diagnose failures and their root causes. ALICA, a domain specific language for multi-robot systems, is applied to coordinate recovery plans in multi-robot systems.}, added-at = {2016-04-25T16:28:50.000+0200}, attachments = {https://141.51.121.1/sites/default/files/biblio/RoSHA.pdf}, author = {Kirchner, Dominik and Niemczyk, Stefan and Geihs, Kurt}, biburl = {https://www.bibsonomy.org/bibtex/2c0e68f759bfacb063fdad68098574bc9/cn}, booktitle = {17th Annual RoboCup International Symposium}, interhash = {1c2c46a90105c5ee665362d641c62ef9}, intrahash = {c0e68f759bfacb063fdad68098574bc9}, keywords = {diagnosis failure monitoring multi-robot recovery self-healing system}, month = {07}, school = {university of cassel}, timestamp = {2016-04-25T16:28:50.000+0200}, title = {RoSHA: A Multi-Robot Self-Healing Architecture}, url = {http://das-lab.vs.eecs.uni-kassel.de/publications/KirchnerNiemczykGeihs2013-RoSHA.pdf}, year = 2013 }