Logo des Repositoriums

Auflistung nach Autor:in "Maas, Raphael"

1 - 3 von 3
  • Zeitschriftenartikel
    Fault Tolerant and Adaptive Path Planning for Mobile Robots Based on Health Signals
    (FERS-Mitteilungen: Vol. 30, No. 1, 2012) Maas, Raphael; Maehle, Erik
    Raphael Maas and Erik Maehle, University of Lübeck, Ratzeburger Allee 160, 23538 Lübeck, Germany
  • Konferenzbeitrag
    Fault tolerant and adaptive path planning in crowded environments for mobile robots based on hazard estimation via health signals
    (ARCS 2012 Workshops, 2012) Maas, Raphael; Maehle, Erik
    Mobile robots are complex systems that tend to become even more complex. Since these systems show often graceful degradation in case of hardware faults the applied control strategies should be taken into account. The overall fitness of a robot can be condensed into health signals. Depending on this signal the control of the robot can be adjusted to counteract reduced sensing or acting capabilities, by following the design principles of organic computing. This work introduces techniques to estimate possible hazards that are introduced by the presence of obstacles in the close proximity of a damaged robot and might threaten its task.
  • Konferenzbeitrag
    Health signal generation in the ORCA (Organic robot control architecture) framework
    (Informatik 2014, 2014) Maas, Raphael; Maehle, Erik
    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.