Adaptive Window Checkpoint - Rollback Method for Response and Recovery Mechanism in Robotics

Abstract

Robotics is an emerging field and robots may be employed in places where human intervention is not possible. Multiple robots may work in a coordinated manner to achieve certain tasks. However, one of the big problems is the detection and recovery from failures, since human intervention may not be possible. To this end we propose an autonomic self-detection and self-recovery robotics architecture based on the human immune system. In this thesis, we look at self-detection and self-recovery of communications failure. In particular, we look at two types of communication failures; failures caused by robot isolation and failures caused by message loss. This thesis focuses on one component of the autonomic robotic architecture, namely, the response recovery mechanism in robots. Our goal is to make the robot respond to the failure by rolling back to a safer state from where it can communicate with the base station and recover from the failure by resuming its operation from the rolled back location. Simulation results show that the probability of getting a successful connection back to the base station increases when the number of rollbacks for a robot increases.