Fault-Resilient Robot Operating System Supporting Rapid Fault Recovery with Node Replication

IF 0.6 4区计算机科学 Q4 COMPUTER SCIENCE, INFORMATION SYSTEMS

IEICE Transactions on Information and Systems Pub Date : 2023-10-01 DOI:10.1587/transinf.2023edl8014

Jonghyeok YOU, Heesoo KIM, Kilho LEE

引用次数: 0

Abstract

This paper proposes a fault-resilient ROS platform supporting rapid fault detection and recovery. The platform employs heartbeat-based fault detection and node replication-based recovery. Our prototype implementation on top of the ROS Melodic shows a great performance in evaluations with a Nvidia development board and an inverted pendulum device.

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支持节点复制快速故障恢复的容错机器人操作系统

本文提出了一种支持快速故障检测和恢复的容错ROS平台。该平台采用基于心跳的故障检测和基于节点复制的故障恢复。我们在ROS Melodic之上的原型实现在Nvidia开发板和倒立摆设备的评估中显示出出色的性能。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

IEICE Transactions on Information and Systems 工程技术-计算机：软件工程

CiteScore

1.80

自引率

0.00%

发文量

238

审稿时长

5.0 months

期刊介绍： Published by The Institute of Electronics, Information and Communication Engineers Subject Area: Mathematics Physics Biology, Life Sciences and Basic Medicine General Medicine, Social Medicine, and Nursing Sciences Clinical Medicine Engineering in General Nanosciences and Materials Sciences Mechanical Engineering Electrical and Electronic Engineering Information Sciences Economics, Business & Management Psychology, Education.