Distributed Fault Diagnostic for Multiple Mobile Robots Using an Agent Programming Language

Marcio G Morais; Felipe Meneguzzi; Rafael H. Bordini; Alexandre M Amory

doi:10.1109/ICAR.2015.7251486

Distributed Fault Diagnostic for Multiple Mobile Robots Using an Agent Programming Language

Marcio G Morais, Felipe Meneguzzi, Rafael H. Bordini, Alexandre M Amory

Computing Science

Pontifícia Universidade Católica do Rio Grande do Sul

Research output: Chapter in Book/Report/Conference proceeding › Published conference contribution

9 Citations (Scopus)

Abstract

Programming autonomous multi-robot systems can be extremely complex without the use of appropriate software development techniques to abstract away the hardware heterogeneity and to overcome the complexity of distributed software to coordinate autonomous behavior. Moreover, real-world environments are dynamic, which can generate unpredictable events that can lead the robots to failure. This paper presents a highly abstract cooperative fault diagnosis method for a team of mobile robots described through a high level programming environment based on ROS (Robot Operating System) and the Jason multi-agent framework. When a robot detects a failure, it can perform two types of diagnosis methods: a local method executed on the faulty robot itself and a cooperative method where another robot helps the faulty robot to determine the source of failure. A case study demonstrates the effectiveness of out approach on two robots.

Original language	English
Title of host publication	Proceedings of the 17th International Conference on Advanced Robotics
Publisher	IEEE Explore
Number of pages	6
ISBN (Electronic)	978-1-4673-7509-2
DOIs	https://doi.org/10.1109/ICAR.2015.7251486
Publication status	Published - Oct 2015
Event	2015 International Conference on Advanced Robotics (ICAR) - Istanbul, Turkey , Istanbul, Turkey Duration: 27 Jul 2015 → 31 Jul 2015

Conference

Conference	2015 International Conference on Advanced Robotics (ICAR)
Country/Territory	Turkey
City	Istanbul
Period	27/07/15 → 31/07/15

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10.1109/ICAR.2015.7251486Licence: Unspecified

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@inproceedings{e9d139ef42ff4c68b06d0f089ec86034,

title = "Distributed Fault Diagnostic for Multiple Mobile Robots Using an Agent Programming Language",

abstract = "Programming autonomous multi-robot systems can be extremely complex without the use of appropriate software development techniques to abstract away the hardware heterogeneity and to overcome the complexity of distributed software to coordinate autonomous behavior. Moreover, real-world environments are dynamic, which can generate unpredictable events that can lead the robots to failure. This paper presents a highly abstract cooperative fault diagnosis method for a team of mobile robots described through a high level programming environment based on ROS (Robot Operating System) and the Jason multi-agent framework. When a robot detects a failure, it can perform two types of diagnosis methods: a local method executed on the faulty robot itself and a cooperative method where another robot helps the faulty robot to determine the source of failure. A case study demonstrates the effectiveness of out approach on two robots.",

author = "Morais, {Marcio G} and Felipe Meneguzzi and Bordini, {Rafael H.} and Amory, {Alexandre M}",

year = "2015",

month = oct,

doi = "10.1109/ICAR.2015.7251486",

language = "English",

booktitle = "Proceedings of the 17th International Conference on Advanced Robotics",

publisher = "IEEE Explore",

note = "2015 International Conference on Advanced Robotics (ICAR) ; Conference date: 27-07-2015 Through 31-07-2015",

}

TY - GEN

T1 - Distributed Fault Diagnostic for Multiple Mobile Robots Using an Agent Programming Language

AU - Morais, Marcio G

AU - Meneguzzi, Felipe

AU - Bordini, Rafael H.

AU - Amory, Alexandre M

PY - 2015/10

Y1 - 2015/10

N2 - Programming autonomous multi-robot systems can be extremely complex without the use of appropriate software development techniques to abstract away the hardware heterogeneity and to overcome the complexity of distributed software to coordinate autonomous behavior. Moreover, real-world environments are dynamic, which can generate unpredictable events that can lead the robots to failure. This paper presents a highly abstract cooperative fault diagnosis method for a team of mobile robots described through a high level programming environment based on ROS (Robot Operating System) and the Jason multi-agent framework. When a robot detects a failure, it can perform two types of diagnosis methods: a local method executed on the faulty robot itself and a cooperative method where another robot helps the faulty robot to determine the source of failure. A case study demonstrates the effectiveness of out approach on two robots.

AB - Programming autonomous multi-robot systems can be extremely complex without the use of appropriate software development techniques to abstract away the hardware heterogeneity and to overcome the complexity of distributed software to coordinate autonomous behavior. Moreover, real-world environments are dynamic, which can generate unpredictable events that can lead the robots to failure. This paper presents a highly abstract cooperative fault diagnosis method for a team of mobile robots described through a high level programming environment based on ROS (Robot Operating System) and the Jason multi-agent framework. When a robot detects a failure, it can perform two types of diagnosis methods: a local method executed on the faulty robot itself and a cooperative method where another robot helps the faulty robot to determine the source of failure. A case study demonstrates the effectiveness of out approach on two robots.

UR - http://www.meneguzzi.eu/felipe/pubs/icar-ros-jason-2015.pdf

U2 - 10.1109/ICAR.2015.7251486

DO - 10.1109/ICAR.2015.7251486

M3 - Published conference contribution

BT - Proceedings of the 17th International Conference on Advanced Robotics

PB - IEEE Explore

T2 - 2015 International Conference on Advanced Robotics (ICAR)

Y2 - 27 July 2015 through 31 July 2015

ER -

Distributed Fault Diagnostic for Multiple Mobile Robots Using an Agent Programming Language

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