A Framework-Based Approach for Fault-Tolerant Service Robots

Recently the component-based approach has become a major trend in intelligent service robot development due to its reusability and productivity. The framework in a component-based system should provide essential services for application components. However, to our knowledge the existing robot framew...

Full description

Bibliographic Details
Main Authors: Heejune Ahn, Woong-Kee Loh, Woon-Young Yeo
Format: Article
Language:English
Published: SAGE Publishing 2012-11-01
Series:International Journal of Advanced Robotic Systems
Online Access:https://doi.org/10.5772/54023
_version_ 1818963749677039616
author Heejune Ahn
Woong-Kee Loh
Woon-Young Yeo
author_facet Heejune Ahn
Woong-Kee Loh
Woon-Young Yeo
author_sort Heejune Ahn
collection DOAJ
description Recently the component-based approach has become a major trend in intelligent service robot development due to its reusability and productivity. The framework in a component-based system should provide essential services for application components. However, to our knowledge the existing robot frameworks do not yet support fault tolerance service. Moreover, it is often believed that faults can be handled only at the application level. In this paper, by extending the robot framework with the fault tolerance function, we argue that the framework-based fault tolerance approach is feasible and even has many benefits, including that: 1) the system integrators can build fault tolerance applications from non-fault-aware components; 2) the constraints of the components and the operating environment can be considered at the time of integration, which – cannot be anticipated eaily at the time of component development; 3) consistency in system reliability can be obtained even in spite of diverse application component sources. In the proposed construction, we build XML rule files defining the rules for probing and determining the fault conditions of each component, contamination cases from a faulty component, and the possible recovery and safety methods. The rule files are established by a system integrator and the fault manager in the framework controls the fault tolerance process according to the rules. We demonstrate that the fault-tolerant framework can incorporate widely accepted fault tolerance techniques. The effectiveness and real-time performance of the framework-based approach and its techniques are examined by testing an autonomous mobile robot in typical fault scenarios.
first_indexed 2024-12-20T12:50:10Z
format Article
id doaj.art-13a8ea983a5f406b8f81c86f382bc919
institution Directory Open Access Journal
issn 1729-8814
language English
last_indexed 2024-12-20T12:50:10Z
publishDate 2012-11-01
publisher SAGE Publishing
record_format Article
series International Journal of Advanced Robotic Systems
spelling doaj.art-13a8ea983a5f406b8f81c86f382bc9192022-12-21T19:40:10ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142012-11-01910.5772/5402310.5772_54023A Framework-Based Approach for Fault-Tolerant Service RobotsHeejune Ahn0Woong-Kee Loh1Woon-Young Yeo2 Department of Electrical Engineering and Information Technology, Seoul National University of Science and Technology (SeoulTech), Seoul, South Korea Department of Multimedia, Sungkyul University, Anyang-shi, Gyeonggi-do, South Korea Department of Information and Communication Engineering, Sejong University, Seoul, South KoreaRecently the component-based approach has become a major trend in intelligent service robot development due to its reusability and productivity. The framework in a component-based system should provide essential services for application components. However, to our knowledge the existing robot frameworks do not yet support fault tolerance service. Moreover, it is often believed that faults can be handled only at the application level. In this paper, by extending the robot framework with the fault tolerance function, we argue that the framework-based fault tolerance approach is feasible and even has many benefits, including that: 1) the system integrators can build fault tolerance applications from non-fault-aware components; 2) the constraints of the components and the operating environment can be considered at the time of integration, which – cannot be anticipated eaily at the time of component development; 3) consistency in system reliability can be obtained even in spite of diverse application component sources. In the proposed construction, we build XML rule files defining the rules for probing and determining the fault conditions of each component, contamination cases from a faulty component, and the possible recovery and safety methods. The rule files are established by a system integrator and the fault manager in the framework controls the fault tolerance process according to the rules. We demonstrate that the fault-tolerant framework can incorporate widely accepted fault tolerance techniques. The effectiveness and real-time performance of the framework-based approach and its techniques are examined by testing an autonomous mobile robot in typical fault scenarios.https://doi.org/10.5772/54023
spellingShingle Heejune Ahn
Woong-Kee Loh
Woon-Young Yeo
A Framework-Based Approach for Fault-Tolerant Service Robots
International Journal of Advanced Robotic Systems
title A Framework-Based Approach for Fault-Tolerant Service Robots
title_full A Framework-Based Approach for Fault-Tolerant Service Robots
title_fullStr A Framework-Based Approach for Fault-Tolerant Service Robots
title_full_unstemmed A Framework-Based Approach for Fault-Tolerant Service Robots
title_short A Framework-Based Approach for Fault-Tolerant Service Robots
title_sort framework based approach for fault tolerant service robots
url https://doi.org/10.5772/54023
work_keys_str_mv AT heejuneahn aframeworkbasedapproachforfaulttolerantservicerobots
AT woongkeeloh aframeworkbasedapproachforfaulttolerantservicerobots
AT woonyoungyeo aframeworkbasedapproachforfaulttolerantservicerobots
AT heejuneahn frameworkbasedapproachforfaulttolerantservicerobots
AT woongkeeloh frameworkbasedapproachforfaulttolerantservicerobots
AT woonyoungyeo frameworkbasedapproachforfaulttolerantservicerobots