Software self-recovery method of AUV based on micro-reboot

Author

Shi, Chang-ting ; Zhang, Ru-bo ; Zhao, Jing

Author_Institution

Coll. of Comput. Sci. & Technol., Harbin Eng. Univ., Harbin, China

fYear

2011

fDate

21-25 June 2011

Firstpage

91

Lastpage

96

Abstract

According to the research on failure recovery of AUV software system, a method based on micro-reboot mechanism and Partially Observable Markov Decision Process (POMDP) model for solving failure recovery of AUV is presented. An analytical multi-level model is presented and a micro-reboot mechanism under Fine-grained is learned. Considering self-recovery theory and the applicability of POMDP model, a failure recovery model based on POMDP is established and the basic factors of model are given. Results of experiment prove the validity of algorithm and the applicability of the model.

Keywords

Markov processes; control engineering computing; decision theory; mobile robots; observability; remotely operated vehicles; system recovery; underwater vehicles; AUV software system; analytical multilevel model; autonomous underwater vehicle; failure recovery; microreboot mechanism; partially observable Markov decision process model; self-recovery theory; software self-recovery method; Analytical models; Computational modeling; Intelligent control; Markov processes; Software algorithms; Software systems; Autonomous Underwater Vehicle (AUV); Micro-reboot; Partially Observable Markov Decision Process (POMDP); Self-recovery; Software system;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control and Automation (WCICA), 2011 9th World Congress on

Conference_Location

Taipei

Print_ISBN

978-1-61284-698-9

Type

conf

DOI

10.1109/WCICA.2011.5970677

Filename

5970677