ロボットミドルウェアのダイナミックワイヤリングを利用したホットスタンバイアーキテクチャの提案

抄録

Although development using robot middleware is increasing, the design methodology of fault-tolerant systems remains insufficient. Low-latency recovery from fault of a robot system is an important issue because faults may cause unexpected behaviors of robots and possibly injure people. Therefore, we propose high-speed fault recovery architecture using a component-based robot middleware. We adapted “hot-standby” technique in our architecture to switch connections from a faulty component to its backup component at run-time. We utilized “dynamic wiring” of robot middleware to realize the run-time reconfiguration. In addition, we developed a recovery tool for RT-Middleware based on this architecture.