Model-based reasoning for self-repair of autonomous mobile robots

Abstract

Retaining functionality of a mobile robot in the presence of faults is of particular interest in autonomous robotics. From our experiences in robotics we know that hardware is one of the weak points in mobile robots. In this paper we present the foundations of a system that automatically monitors the driving device of a mobile robot. In case of a detected fault, e.g., a broken motor, the system automatically re-configures the robot in order to allow to reach a certain position. The described system is based on a generalized model of the motion hardware. The path-planner has only to change its behavior in case of a serious damage. The high-level control system remains the same. In the paper we present the model and the foundations of the diagnosis and re-configuration system. © 2007 Springer-Verlag Berlin Heidelberg.