Increasing ROS reliability and safety through advanced introspection capabilities
| dc.contributor.author | Bihlmaier, Andreas | |
| dc.contributor.author | Wörn, Heinz | |
| dc.contributor.editor | Plödereder, E. | |
| dc.contributor.editor | Grunske, L. | |
| dc.contributor.editor | Schneider, E. | |
| dc.contributor.editor | Ull, D. | |
| dc.date.accessioned | 2017-07-26T10:58:33Z | |
| dc.date.available | 2017-07-26T10:58:33Z | |
| dc.date.issued | 2014 | |
| dc.description.abstract | The Robot Operating System (ROS) brought together many different robotics research groups by providing a common software ecosystem. One important part of ROS is the publish-subscribe messaging infrastructure that facilitates building modular and reusable distributed robotics systems. However, the inherent complexity - flexibility, diversity and dynamics - of such a system opposes properties essential to robotics: reliability and safety. The paper details how to gain control of a ROS-based robotics system through the extension of ROS by advanced introspection capabilities. Once the introspection based on distributed gathering of metadata is in place, we are able to define a reference state for the whole ROS system. A monitoring node continuously compares the reference to the actual state. In case of a deviation the operator is alerted through a dashboard, in addition appropriate countermeasures can be initiated by the robotics system itself. | en |
| dc.identifier.isbn | 978-3-88579-626-8 | |
| dc.identifier.pissn | 1617-5468 | |
| dc.language.iso | en | |
| dc.publisher | Gesellschaft für Informatik e.V. | |
| dc.relation.ispartof | Informatik 2014 | |
| dc.relation.ispartofseries | Lecture Notes in Informatics (LNI) - Proceedings, Volume P-232 | |
| dc.title | Increasing ROS reliability and safety through advanced introspection capabilities | en |
| dc.type | Text/Conference Paper | |
| gi.citation.endPage | 1326 | |
| gi.citation.publisherPlace | Bonn | |
| gi.citation.startPage | 1319 | |
| gi.conference.date | 22.-26. September 2014 | |
| gi.conference.location | Stuttgart |
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