Authors:
Jörg Weber
and
Franz Wotawa
Affiliation:
Graz University of Technology, Austria
Keyword(s):
Model-based reasoning, Autonomous robots, Diagnosis, Repair, AI planning, Plan monitoring, Capability
model.
Related
Ontology
Subjects/Areas/Topics:
Agents
;
Artificial Intelligence
;
Autonomous Systems
;
Formal Methods
;
Informatics in Control, Automation and Robotics
;
Intelligent Control Systems and Optimization
;
Model-Based Reasoning
;
Planning and Scheduling
;
Simulation and Modeling
;
Symbolic Systems
Abstract:
Our past work deals with model-based runtime diagnosis in the software system of a mobile autonomous robot. Unfortunately, as an automated repair of failed software components at runtime is hardly possible, it may happen that failed components must be removed from the control system. In this case, those capabilities of the control system which depend on the removed components are lost. This paper focuses on the necessary adaptions of the high-level decision making in order to achieve a graceful degradation. Assuming that those decisions are made by an AI-planning system, we propose extensions which enable such a system to generate only plans which can be executed and monitored despite the lost capabilities. Among others, we propose an abstract model of software capabilities, and we show how to dynamically determine those capabilities which are required for monitoring a plan.