ARPHA: a software prototype for fault detection, identification and recovery in autonomous spacecrafts (original) (raw)
is paper introduces a software prototype called ARPA for on-board diagnosis, prognosis and recovery. e goal is to allow the design of an innovative on-board R (ault etection, dentification and Recovery) process for autonomous systems, able to deal with uncertain system/environment interactions, uncertain dynamic system evolution, partial observability and detection of recovery policies taking into account imminent failures. We propose to base the inference engine of ARPA on ynamic Probabilistic Graphical Models suitable to reason about system evolution with control actions, over a finite time horizon. e model needed by ARPA is derived from standard dependability modeling, exploiting an extension of the ynamic ault Tree language, called T. We finally discuss the software architecture of ARPA, where on-board R is implemented and we provide some preliminary results on simulation scenarios for Mars rover activities. Acta utura (0) / -0 . odetta-Raiteri at al.
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