Fault-Resilient Robot Operating System Supporting Rapid Fault Recovery with Node Replication
Jonghyeok YOU, Heesoo KIM, Kilho LEE · IEICE Transactions on Information and Systems · 2023
This paper proposes a fault-resilient ROS platform supporting rapid fault detection and recovery. The platform employs heartbeat-based fault detection and node replication-based recovery. Our prototype implementation on top of the ROS Melodic shows a great performance in evaluations with a Nvidia development board and an inverted pendulum device.