Fault tolerant and adaptive path planning in crowded environments for mobile robots based on hazard estimation via health signals

摘要

Abstract: Mobile robots are complex systems that tend to become even more com-plex. Since these systems show often graceful degradation in case of hardware faults the applied control strategies should be taken into account. The overall fitness of a robot can be condensed into health signals. Depending on this signal the control of the robot can be adjusted to counteract reduced sensing or acting capabilities, by follow-ing the design principles of organic computing. This work introduces techniques to estimate possible hazards that are introduced by the presence of obstacles in the close proximity of a damaged robot and might threaten its task. 1