Detection and notification of failures in distributed component-based robot applications using blackboard architecture

Michael Shin, Taeghyun Kang, Sunghoon Kim

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

This paper describes detection and notification of component failures in distributed component-based robot applications using the blackboard architecture. The blackboard architecture monitors each component of robot applications in order to detect component failures at runtime and it identifies the causes of failures. Using the dependency relationships between components, the blackboard architecture performs impact analysis between components so that it determines the scope of failure notification in the components of a distributed robot application. The notification messages delivered to components can trigger actions against the failures if robot application developers have implemented the actions along with application functions. The prototype of blackboard architecture has been implemented for the Microsoft Robotics Developer Studio (MSRDS) environment, and it has been applied to the Unmanned Ground Vehicle (UGV) application implemented on the simulator as a case study.

Original languageEnglish
Title of host publicationDistributed Autonomous Robotic Systems - The 12th International Symposium
EditorsYoung-Jo Cho, Nak-Young Chong
PublisherSpringer-Verlag
Pages433-446
Number of pages14
ISBN (Print)9784431558774
DOIs
StatePublished - 2016
Event12th International Symposium on Distributed Autonomous Robotic Systems, DARS 2014 - Daejeon, Korea, Republic of
Duration: Nov 2 2014Nov 5 2014

Publication series

NameSpringer Tracts in Advanced Robotics
Volume112
ISSN (Print)1610-7438
ISSN (Electronic)1610-742X

Conference

Conference12th International Symposium on Distributed Autonomous Robotic Systems, DARS 2014
Country/TerritoryKorea, Republic of
CityDaejeon
Period11/2/1411/5/14

Keywords

  • Blackboard architecture
  • Detection
  • Impact analysis
  • Notification
  • Robot component

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