Towards Adaptive Fault Tolerance: From a Component-Based Approach to ROS

Grzegorz Bartoszewski Warsaw University of Life Sciences – SGGW, Poland Renata Bogatek Warsaw University of Life Sciences – SGGW, Poland Marcin Filipecki Warsaw University of

Separation of Concern, implying a clear separation between the functional code (i.e. the application) and the non-functional code (i.e. the fault tolerance

However, the next major revision of ROS (ROS2) is based on a DDS (Data Distribution Service) communication system that should help solving this problem by distributing the ROS

Contributions: This work provides the following three contributions: i) we describe a concise synthesis of concepts required by any Adaptive Fault Tolerant system. This synthesis

The client/server model defines bidirectional transaction (one request/one reply) synchronous communications through the concept of service. A node providing a service

A real-time agent is represented as a tuple defined by the name of the agent, its belief-set, its desire-set and the set of all possible applicable plans. These are pre-defined,

This also gives us the opportunity to include students from non-pure computer-science fields such as electrical engineering and mechatronics whose curriculum usually covers merely

In this demo, we present a user-friendly interface that we designed and implemented in order to allow users to make robots of different types and capabilities achieve basic