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Communication Dans Un Congrès Année : 2007

Fault Tolerant Planning for Critical Robots

Résumé

Autonomous robots offer alluring perspectives in numerous application domains: space rovers, satellites, medical assistants, tour guides, etc. However, a severe lack of trust in their dependability greatly reduces their possible usage. In particular, autonomous systems make extensive use of decisional mechanisms that are able to take complex and adaptative decisions, but are very hard to validate. This paper proposes a fault tolerance approach for decisional planning components, which are almost mandatory in complex autonomous systems. The proposed mechanisms focus on development faults in planning models and heuris-tics, through the use of diversification. The paper presents an implementation of these mechanisms on an existing autonomous robot architecture, and evaluates their impact on performance and reliability through the use of fault injection .
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Dates et versions

hal-01292653 , version 1 (23-03-2016)

Identifiants

Citer

Benjamin Lussier, Matthieu Gallien, Jérémie Guiochet, Félix Ingrand, Marc-Olivier Killijian, et al.. Fault Tolerant Planning for Critical Robots. DSN 2007 The 37th Annual IEEE/IFIP International Conference on Dependable Systems and Networks , Jun 2007, Edimbourg, United Kingdom. ⟨10.1109/DSN.2007.50⟩. ⟨hal-01292653⟩
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