Improved resilience controllers using cognitive patterns

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

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 volume › Conference contribution › Scientific › peer-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 language	English
Title of host publication	Proceedings of the 19th IFAC World Congress IFAC 2014
Publisher	IFAC Secretariat
Pages	683-688
Number of pages	6
Volume	19
ISBN (Electronic)	9783902823625
Publication status	Published - 2014
Externally published	Yes
Event	19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014 - Pretoria, Cape Town, South Africa Duration: 24 Aug 2014 → 29 Aug 2014 Conference number: 19

Conference

Conference	19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014
Abbreviated title	IFAC 2014
Country/Territory	South Africa
City	Cape Town
Period	24/08/14 → 29/08/14

Keywords

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

Cite this

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title = "Improved resilience controllers using cognitive patterns",

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.",

keywords = "Cognitive systems, Controller architecture, Design patterns, Meta-control, Model-based systems, Reconfiguration, Resilience, Robot controllers",

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language = "English",

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AU - Sanz, Ricardo

AU - Hernandez, Carlos

AU - Bermejo-Alonso, Julita

AU - Rodriguez, Manuel

AU - Lopez, Ignacio

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PY - 2014

Y1 - 2014

N2 - 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.

AB - 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.

KW - Cognitive systems

KW - Controller architecture

KW - Design patterns

KW - Meta-control

KW - Model-based systems

KW - Reconfiguration

KW - Resilience

KW - Robot controllers

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M3 - Conference contribution

AN - SCOPUS:84929743905

VL - 19

SP - 683

EP - 688

BT - Proceedings of the 19th IFAC World Congress IFAC 2014

PB - IFAC Secretariat

T2 - 19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014

Y2 - 24 August 2014 through 29 August 2014

ER -

Improved resilience controllers using cognitive patterns

Abstract

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Keywords

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