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Design, Execution, and Postmortem Analysis of Prolonged Autonomous Robot Operations

Brunner, Sebastian Georg and Lehner, Peter and Schuster, Martin J. and Riedel, Sebastian and Belder, Rico and Wedler, Armin and Leidner, Daniel and Beetz, Michael and Stulp, Freek (2018) Design, Execution, and Postmortem Analysis of Prolonged Autonomous Robot Operations. IEEE Robotics and Automation Letters, 3 (2), pp. 1056-1063. IEEE - Institute of Electrical and Electronics Engineers. DOI: 10.1109/LRA.2018.2794580 ISSN 2377-3766

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Abstract

In the context of space missions and terrestrial applications, both mission goals and task implementations for autonomous robots are becoming increasingly complex. Thus, the challenge of monitoring the achievement of task objectives and checking the correctness of their implementation is becoming more and more difficult. To tackle these problems, we propose an unified architecture that supports different stakeholders during the different phases of the deployment: 1) the design phase; 2) the runtime phase; 3) the post-mortem analysis phase. Furthermore, we implement this architecture by enhancing our task programming framework RAFCON with powerful logging, debugging and profiling capabilities. We demonstrate the efficiency of our approach in the context of the ROBEX mission, during which the DLR Lightweight Rover Unit autonomously deployed several seismometers in an unknown rough terrain on Mt. Etna, Sicily. The analysis results for a state machine consisting of more than 1500 states and more than 1900 transitions are presented. Finally, we give a comparison between our framework and related software tools.

Item URL in elib:https://elib.dlr.de/121511/
Document Type:Article
Title:Design, Execution, and Postmortem Analysis of Prolonged Autonomous Robot Operations
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Brunner, Sebastian GeorgSebastian.Brunner (at) dlr.deUNSPECIFIED
Lehner, Peterpeter.lehner (at) dlr.deUNSPECIFIED
Schuster, Martin J.martin.schuster (at) dlr.deUNSPECIFIED
Riedel, SebastianSebastian.Riedel (at) dlr.dehttps://orcid.org/0000-0002-3655-2486
Belder, RicoRico.Belder (at) dlr.deUNSPECIFIED
Wedler, ArminArmin.Wedler (at) dlr.deUNSPECIFIED
Leidner, Danieldaniel.leidner (at) dlr.deUNSPECIFIED
Beetz, Michaelbeetz (at) cs.uni-bremen.deUNSPECIFIED
Stulp, FreekFreek.Stulp (at) dlr.dehttps://orcid.org/0000-0001-9555-9517
Date:2018
Journal or Publication Title:IEEE Robotics and Automation Letters
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
Volume:3
DOI :10.1109/LRA.2018.2794580
Page Range:pp. 1056-1063
Publisher:IEEE - Institute of Electrical and Electronics Engineers
ISSN:2377-3766
Status:Published
Keywords:autonomous agents;field robots;middleware and programming environments;mobile manipulation;space robotics and automation
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Intelligente Mobilität
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Cognitive Robotics
Deposited By: Brunner, Sebastian
Deposited On:27 Nov 2018 13:49
Last Modified:31 Jul 2019 20:19

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