Gesellschaft für Informatik e.V.

Lecture Notes in Informatics

Informatik 2014 P-232, 1327-1338 (2014).

Gesellschaft für Informatik, Bonn

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Health signal generation in the ORCA (Organic robot control architecture) framework

Raphael Maas and Erik Maehle


This paper evaluates various information-theoretical methods for the generation of health signals in the Organic Robot Control Architecture (ORCA). Also a new method based on the joint probability distribution of signals is proposed. The results show that the new method is superior to the known ones for the studied worst-case artificial and real scenarios. As an example for the application of health signals in ORCA, an adaptable path planner is described which considers the health status of a partially damaged robot.

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Gesellschaft für Informatik, Bonn
ISBN 978-3-88579-626-8

Last changed 18.11.2014 21:17:53