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Health signal generation in the ORCA (Organic robot control architecture) framework

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2014

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Gesellschaft für Informatik e.V.

Zusammenfassung

This paper evaluates various information-theoretical methods for the generation of health signals in the Organic Robot Control Architecture (ORCA). Also a new method based on the joint probability distribution of signals is proposed. The results show that the new method is superior to the known ones for the studied worst-case artificial and real scenarios. As an example for the application of health signals in ORCA, an adaptable path planner is described which considers the health status of a partially damaged robot.

Beschreibung

Maas, Raphael; Maehle, Erik (2014): Health signal generation in the ORCA (Organic robot control architecture) framework. Informatik 2014. Bonn: Gesellschaft für Informatik e.V.. PISSN: 1617-5468. ISBN: 978-3-88579-626-8. pp. 1327-1338. Stuttgart. 22.-26. September 2014

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