Fault-Resilient Robot Operating System Supporting Rapid Fault Recovery with Node Replication

초록

This paper proposes a fault-resilient ROS platform sup-porting 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.

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