Reconfiguration of Autonomous Robotics

Reconfiguration of Autonomous Robotics

Yujian Fu (Alabama A&M University, Huntsville, AL, USA) and Steven Drager (Air Force Research Laboratory, Dayton, OH, USA)
Copyright: © 2015 |Pages: 18
DOI: 10.4018/IJRAT.2015010103
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Abstract

Autonomous robotics systems (ARSs) consist of multiple heterogeneous objects and intelligent inferences that are expected to take appropriate actions even in unforeseen circumstances. Dynamic reconfiguration of ARSs is a key enabling technology and plays a major role in the future cyber-enabled battle field. This research work, focused on the development of a formal approach to the specification and verification of reconfigurability of ARSs. Two typical problems w.r.t. the dynamic adaptation and reconfiguration of ARSs were identified and studied. The first problem is how to formally represent the ARSs and describe the reconfigurable behavior precisely so that the ARSs can adapt to the new changes. The second problem focuses on how to analyze and verify the formal model of the reconfiguration and ensure the correctness of the system during reconfiguration. Considering behavior preserving in the reconfiguration model, a net reconfigurations based on the natural transformation is introduced.
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2. Rationales And Goals Of The Paper1

2.1. Rationale and Problems

It is widely realized that the development of military or industrial applicable robots is subject to change, which is mainly caused by two major aspects – unexpected environment and higher customer orientation. The possibility of the environment irregularly changing causes the robot configuration to change. Many uncertainty issues are raised unpredictably which challenge the robot configuration every moment. The ability of an end-customer to configure nearly unique individual co-robots results in sophisticated challenges for the modeling and design of reliable autonomous mobile system (AMS) production. The diversity of variants is growing. In addition it is possible that an increasing demand to offer a band of new functions leads to shorter product life cycles in the robot design. To be able to provide reliable and correct AMS robots and analyze and reason the AMS precisely is highly desirable. In particular, reconfigurable robotic systems are promising alternatives to the design of new sophisticated functions. In case of modeling, design and verification of AMS, reconfigurable robotic systems can reduce redesign efforts and do not require rescheduling of entire production lines. Major impact factors to the design of reconfigurable robots are shown in Figure 1. They are subdivided into requirement and environment driven aspects.

Figure 1.

Impact factors of reconfigurable autonomous robots

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