Model-Based Runtime Diagnosis for Autonomous Mobile Systems

The Model-based Runtime Diagnosis for Autonomous Mobile Systems (MoRDAMS) project focuses an the modeling of hardware and soflware of mobile robots to allow for autonomous diagnosis and reconfiguration without human interaction. Automated diagnosis and reconfiguration of mobile robots would ensure their potential of use in real-world environments over a longer period of time. Currently, mobile robots require a lot of maintenance work which has to be provided online and offline. By introducing a self-repair capability a mobile robot would less sensitive to errors and malfunctioning. In order to use the developed models directly for diagnosis and reconfiguration the MoRDAMS project uses model-based reasoning techniques which has been successfully applied to diagnosis and reconfiguration in different domains, including software debugging and the automotive industry. The models which will be developed during the project will also be evaluated with respect to real-world test-cases. The obtained data from the real- world test-cases will be published in order to provide test-cases to the community for further studies. Hence, MoRDAMS will have an impact to the model-based reasoning field not only in modeling but also in providing real-world data. In summary the MoRDAMS project investigates: (1) modeling for diagnosis and reconfiguration of systems comprising hardware and Software, (2) how to apply model-based diagnosis and reconfiguration at runtime within a given time and given computational resources, and (3) extracting observations for diagnosis and reconfiguration from raw Sensor data.

The Model-based Runtime Diagnosis for Autonomous Mobile Systems (MoRDAMS) project focuses an the modeling of hardware and soflware of mobile robots to allow for autonomous diagnosis and reconfiguration without human interaction. Automated diagnosis and reconfiguration of mobile robots would ensure their potential of use in real-world environments over a longer period of time. Currently, mobile robots require a lot of maintenance work which has to be provided online and offline. By introducing a self-repair capability a mobile robot would less sensitive to errors and malfunctioning. In order to use the developed models directly for diagnosis and reconfiguration the MoRDAMS project uses model-based reasoning techniques which has been successfully applied to diagnosis and reconfiguration in different domains, including software debugging and the automotive industry. The models which will be developed during the project will also be evaluated with respect to real-world test-cases. The obtained data from the real- world test-cases will be published in order to provide test-cases to the community for further studies. Hence, MoRDAMS will have an impact to the model-based reasoning field not only in modeling but also in providing real-world data. In summary the MoRDAMS project investigates: (1) modeling for diagnosis and reconfiguration of systems comprising hardware and Software, (2) how to apply model-based diagnosis and reconfiguration at runtime within a given time and given computational resources, and (3) extracting observations for diagnosis and reconfiguration from raw Sensor data.