Distributed Watchpoints: Debugging Very Large Ensembles of Robots

 

In Robotics: Science and Systems Workshop on Self-Reconfigurable Modular Robots

Michael De Rosa, Seth Copen Goldstein, Peter Lee, Jason D. Campbell, and Padmanabhan Pillai

Philadelphia, PA

Aug 1990

Abstract


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@inproceedings{derosa-rss06,
  author = {De~Rosa, Michael and Goldstein, Seth Copen and Lee, Peter
     and Campbell, Jason D. and Pillai, Padmanabhan},
  booktitle = {Robotics: Science and Systems Workshop on
     Self-Reconfigurable Modular Robots},
  title = {Distributed Watchpoints: Debugging Very Large Ensembles of
     Robots},
  month = {Aug},
  year = {2006},
  keywords = {Claytronics, Modular Robotics, Debugging, Distributed
     Systems},
  address = {Philadelphia, PA},
  talk = {http://www.cs.cmu.edu/~seth/papers/derosa-rss06.pdf},
  url = {http://www.cs.cmu.edu/~seth/papers/derosa-rss06.pdf},
  abstract = {We describe a debugging tool for modular robotics that
     introduces the concept of distributed watchpoint triggers. This
     technique can initiate debugging actions (system halt, global
     snapshot, logging, etc.) in an ensemble of robots based on
     temporal, physical, and logical conditions distributed over
     multiple robots. Our technique is specifically designed to be
     effective in debugging modular robotic ensembles, where many
     important types of failure conditions can be detected within
     small, physically connected subsets of the total ensemble.},
}

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