ORCA - Towards an organic robotic control architecture

Abstract

We are working on a modular and self-organizing component based software architecture for autonomous mobile robots. To reach a certain degree of fault-tolerance without analyzing all kinds of possible error conditions, ``Organic Components'' will be added to the system to detect recognize variations from a defined ``normal state'' and then try to find counter measures. Once an action is identified to help in certain situations, the component will store that information and use it if a similar situation is reached later. The system will be self-optimizing and self-healing. We started to evaluate adaptive filters a's one possible implementation for components detecting deviations from the normal system state.