ORCA – towards an organic robotic control architecture

Authors:
Florian Mösch;Marek Litza;Adam El Sayed Auf;Erik Maehle;Karl E. Großpietsch;Werner Brockmann
Affiliations:
Institute of Computer Engineering, University of Lübeck, Lübeck, Germany;Institute of Computer Engineering, University of Lübeck, Lübeck, Germany;Institute of Computer Engineering, University of Lübeck, Lübeck, Germany;Institute of Computer Engineering, University of Lübeck, Lübeck, Germany;Fraunhofer Institute of Autonomous Intelligent Systems, St. Augustin, Germany;Institute of Computer Science, University of Osnabrück, Osnabrück, Germany
Venue:
IWSOS'06/EuroNGI'06 Proceedings of the First international conference, and Proceedings of the Third international conference on New Trends in Network Architectures and Services conference on Self-Organising Systems
Year:
2006

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Abstract

We are working on a modular and self-organizing component based software architecture for autonomous mobile robots. To reach a certain degree of fault-tolerance without analyzing all kinds of possible error conditions, “Organic Components” will be added to the system to detect recognize variations from a defined “normal state” and then try to find counter measures. Once an action is identified to help in certain situations, the component will store that information and use it if a similar situation is reached later. The system will be self-optimizing and self-healing. We started to evaluate adaptive filters as one possible implementation for components detecting deviations from the normal system state.