TY - GEN
T1 - Reducing failure rates of robotic systems though inferred invariants monitoring
AU - Jiang, Hengle
AU - Elbaum, Sebastian
AU - Detweiler, Carrick
PY - 2013
Y1 - 2013
N2 - System monitoring can help to detect abnormalities and avoid failures. Crafting monitors for today's robotic systems, however, can be very difficult due to the systems' inherent complexity. In this work we address this challenge through an approach that automatically infers system invariants and synthesizes those invariants into monitors. The approach is novel in that it derives invariants by observing the messages passed between system nodes and the invariants types are tailored to match the spatial, temporal, and operational attributes of robotic systems. Further, the generated monitor can be seamlessly integrated into systems built on top of publish-subscribe architectures. An application of the technique on a system consisting of a unmanned aerial vehicle (UAV) landing on a moving platform shows that it can significantly reduce the number of crashes in unexpected landing scenarios.
AB - System monitoring can help to detect abnormalities and avoid failures. Crafting monitors for today's robotic systems, however, can be very difficult due to the systems' inherent complexity. In this work we address this challenge through an approach that automatically infers system invariants and synthesizes those invariants into monitors. The approach is novel in that it derives invariants by observing the messages passed between system nodes and the invariants types are tailored to match the spatial, temporal, and operational attributes of robotic systems. Further, the generated monitor can be seamlessly integrated into systems built on top of publish-subscribe architectures. An application of the technique on a system consisting of a unmanned aerial vehicle (UAV) landing on a moving platform shows that it can significantly reduce the number of crashes in unexpected landing scenarios.
UR - http://www.scopus.com/inward/record.url?scp=84893713326&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84893713326&partnerID=8YFLogxK
U2 - 10.1109/IROS.2013.6696608
DO - 10.1109/IROS.2013.6696608
M3 - Conference contribution
AN - SCOPUS:84893713326
SN - 9781467363587
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 1899
EP - 1906
BT - IROS 2013
T2 - 2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013
Y2 - 3 November 2013 through 8 November 2013
ER -