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A Programming Model for Failure-Prone, Collaborative Robots Nels Beckman Jonathan Aldrich
 

Summary: A Programming Model for Failure-Prone, Collaborative Robots
Nels Beckman Jonathan Aldrich
Institute for Software Research
Carnegie Mellon University
5000 Forbes Ave., Pittsburgh, PA 15213 USA
{nbeckman, jonathan.aldrich}@cs.cmu.edu
Abstract-- A major problem in programming failure-prone
collaborative robots is liveness. How do we ensure that the fail-
ure of one robot does not cause other robots to be permanently
unavailable if, for example, that robot was a leader of others?
In this paper, we propose a general mechanism which could
be added to existing RPC libraries that allows applications to
detect failure and execute programmer-specified recovery code.
I. INTRODUCTION
A. Collaborative Robots
As robots become more sophisticated, writing applications
for them becomes a more daunting task. In this work our goal
is to ease the development of software for a particular class
of robotic systems; those in which large numbers of robots
must work collaboratively to accomplish some goal. (We

  

Source: Aldrich, Jonathan - School of Computer Science, Carnegie Mellon University

 

Collections: Computer Technologies and Information Sciences