能力分析表による信頼性の高いロボット動作の確立
Establishing Reliable Robot Behavior using Capability Analysis Tables
ロボットのコア動作を整理した「能力分析表(CAT)」を提案し、ハード・ソフトの入出力と動作を結びつけることで、非専門家でも理解できる文書化とシステムの信頼性向上を実現する。UAV実験で実証した。
著者: Victoria Edwards, Loy McGuire, Signe Redfield
分類: cs.RO
原文アブストラクト
Robots are often so complex that one person may not know all the ins and outs of the system. Inheriting software and hardware infrastructure with limited documentation and/or practical robot experience presents a costly challenge for an engineer or researcher. The choice is to either re-build existing systems, or invest in learning the existing framework. No matter the choice, a reliable system which produces expected outcomes is necessary, and while rebuilding may at first appear easier than learning the system, future users will be faced with the same choice. This paper provides a method to allow for increased documentation of the robotic system, which in turn can be used to contribute in overall robot reliability. To do this we propose the identification of a robot's core behaviors for use in Capability Analysis Tables (CATs). CATs are a form of tabular documentation that connect the hardware and software inputs and outputs to the robot's core behaviors. Unlike existing methods, CATs are flexible, easy to build, and understandable by non-expert robot users. We demonstrate this documentation method with an experimental example using an Unmanned Aerial Vehicle (UAV).
