Self-management of component executors for robot applications

This paper describes a self-managing mechanism for failed component executors in a component execution engine for robot applications. Each component executor for robot applications should execute all the assigned components periodically within a defined cycle time. A component executor falls into a failure if it does not meet the cycle time requirements for the assigned components. To handle the failures of component executors, this paper describes the design of a self-managing mechanism, which includes detection and self-managing algorithms. The designed self-managing mechanism is implemented as a prototype before it is integrated with a component execution engine. The performance of the algorithms has been analyzed using the prototype.