Robot deployment in realistic dynamic environments is a challenging problem despite the fact that robots can be quite skilled at a large number of isolated tasks. One reason for this is that robots are rarely equipped with powerful introspection capabilities, which means that they cannot always deal with failures in a reasonable manner; in addition, manual diagnosis is often a tedious task that requires technicians to have a considerable set of robotics skills. In this paper, we discuss our ongoing efforts - in the context of the ROPOD project - to address some of these problems. In particular, we (i) present our early efforts at developing a robotic black box and consider some factors that complicate its design, (ii) explain our component and system monitoring concept, and (iii) describe the necessity for remote monitoring and experimentation as well as our initial attempts at performing those. Our preliminary work opens a range of promising directions for making robots more usable and reliable in practice - not only in the context of ROPOD, but in a more general sense as well.
翻译:在现实的动态环境中部署机器人是一个具有挑战性的问题,尽管机器人能够相当熟练地完成大量孤立的任务。原因之一是机器人很少配备强大的反省能力,这意味着机器人不能总是以合理的方式处理失败;此外,人工诊断往往是一个无聊的任务,需要技术人员掌握大量的机器人技能。在这份文件中,我们讨论了我们为解决这些问题而正在作出的努力——在ROOPOD项目的范围内——以解决这些问题。特别是,我们(一) 介绍我们早期为开发机器人黑盒所作的努力,并考虑一些使其设计复杂化的因素,(二) 解释我们的部件和系统监测概念,(三) 说明远程监测和实验的必要性以及我们进行这些监测的初步尝试。我们的初步工作为机器人的实际使用和可靠性开辟了一系列有希望的方向,不仅在ROOPOD的范围内,而且从更广义上讲。