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COBRA - A generic architecture for robust treatment of uncertain information
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Datum
2013
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Gesellschaft für Informatik e.V.
Zusammenfassung
This paper introduces the COBRA-architecture as an approach to handle uncertainties in autonomous robots and embedded systems in order to increase their robustness. In the COBRA-architecture, the trustworthiness of information is therefor modeled explicitly by meta-signals, called trust signals. At a coarse-grained level, the architecture also extends normal functional modules to a triplet of modules, one containing the normal functionality with handling of deficient information, one containing a fall-back strategy for the case of too insufficient information, and one mitigating between them depending on the respective trustworthiness. The COBRA-architecture incorporates the trust signals also at a fine-grained level into the basic signal processing. As an example the extension of a typical class of continuous functions is presented to achieve more trusty results and to generate also a trust signal for the output. Both basic aspects of the COBRA-architecture are illustrated by the control architecture of the walking robot WALTER.