Improved resilience controllers using cognitive patterns

Ricardo Sanz, Carlos Hernandez, Julita Bermejo-Alonso, Manuel Rodriguez, Ignacio Lopez

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

4 Citations (Scopus)

Abstract

Construction of robotic controllers has been usually done by the instantiation of specific architectural designs. The ASys design strategy described in this work addresses the synthesis of custom robot architectures by means of a requirements-driven application of universal design patterns. In this paper we present three of these patterns -the Epistemic Control Loop, the MetaControl and the Deep Model Reflection patterns- that constitute the core of a pattern language for a new class of adaptive and robust control architectures for autonomous robots. A reference architecture for self-aware autonomous systems is synthesised from these patterns and demonstrated in the control of an autonomous mobile robot. The term "autonomous" gains a deeper significance in this context of reflective, pattern based controllers.

Original languageEnglish
Title of host publicationProceedings of the 19th IFAC World Congress IFAC 2014
PublisherIFAC Secretariat
Pages683-688
Number of pages6
Volume19
ISBN (Electronic)9783902823625
Publication statusPublished - 2014
Externally publishedYes
Event19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014 - Pretoria, Cape Town, South Africa
Duration: 24 Aug 201429 Aug 2014
Conference number: 19

Conference

Conference19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014
Abbreviated titleIFAC 2014
CountrySouth Africa
CityCape Town
Period24/08/1429/08/14

Keywords

  • Cognitive systems
  • Controller architecture
  • Design patterns
  • Meta-control
  • Model-based systems
  • Reconfiguration
  • Resilience
  • Robot controllers

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