Abstract
AbstractThis paper proposes the PANORAMA approach, which is designed to dynamically and autonomously manage the allocation of a robot’s hardware and software resources during fully autonomous mission. This behavioral autonomy approach guarantees the satisfaction of the mission performance constraints. This article clarifies the concept of performance for autonomous robotic missions and details the different phases of the PANORAMA approach. Finally, it focuses on an experimental implementation on a patrolling mission example.
Publisher
Springer Science and Business Media LLC
Reference81 articles.
1. Steinbauer, G.: A Survey about Faults of Robots Used in RoboCup. In: Chen, X., Stone, P., Sucar, L.E., van der Zant, T. (eds.) RoboCup 2012: Robot Soccer World Cup XVI, pp. 344–355. Springer, Berlin, Heidelberg (2013)
2. Doran, M., Sterritt, R., Wilkie, G.: Autonomic architecture for fault handling in mobile robots. Innovations Syst. Softw. Eng. 16, 263–288 (2020). https://doi.org/10.1007/s11334-020-00361-8
3. Hereau, A., Godary-Dejean, K., Guiochet, J., Crestani, D.: A fault tolerant control architecture based on fault trees for an underwater robot executing transect missions. In: 2021 IEEE International Conference on Robotics and Automation (ICRA), pp. 2127–2133 (2021). https://doi.org/10.1109/ICRA48506.2021.9561735
4. Lazarova-Molnar, S., Mohamed, N.: In: Risco Martín, J.L.,Mittal, S., Ören, T. (eds.) Reliability Analysis of Cyber Physical Systems, pp. 385–405. Springer, Cham (2020). https://doi.org/10.1007/978-3-030-51909-4_15
5. Truszkowski, W., Hallock, H., Rouff, C., Karlin, J., Rash, J., Hinchey, M., Sterritt, R.: Autonomous and Autonomic Systems: with Applications to NASA Intelligent Spacecraft Operations and Exploration Systems. Springer, Berlin, Heidelberg (2009)