Safety issues in nonstop update of running programs for mobile robots

Eiichi Horiuchi*, Osamu Matsumoto, Noriho Koyachi

*この研究の対応する著者

研究成果: Conference contribution

抄録

Nonstop Update (NSU) is a service robot architecture to upgrade running robot controllers without suspending the services of robot systems. Its target application is mobile robots operating in remote or hazardous environments where suspension of ongoing missions is unacceptable or human intervention for changing or debugging programs is not easy. The present paper introduces NSU from a point of view of both safety and performance. The present study defines the safety in NSU as a property that controller programs should not suspend or run away because of update-related sources. Safety issues such as deadlocks, module dependency, discontinuity of behavior between before and after update, and delays due to update overhead time are addressed. Safety and performance of NSU is examined and demonstrated by using three practical mobile systems: a mobile manipulator for a power assist system, a hexapod legged mobile robot, and a biped walking robot with wheeled legs.

本文言語English
ホスト出版物のタイトル2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
出版社IEEE Computer Society
ページ120-126
ページ数7
ISBN(印刷版)0780389123, 9780780389120
DOI
出版ステータスPublished - 2005
外部発表はい

出版物シリーズ

名前2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

ASJC Scopus subject areas

  • 人工知能
  • コンピュータ ビジョンおよびパターン認識
  • 人間とコンピュータの相互作用
  • 制御およびシステム工学

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