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This paper describes a comprehensive prototype of large-scale fault adaptive embedded software developed for the proposed Fermilab BTeV high energy physics experiment. Lightweight self-optimizing agents embedded within Level 1 of the prototype are responsible for proactive and reactive monitoring and mitigation based on specified layers of competence. The(More)
Large vertical concrete structures are still a great challenge for autonomous climbing robots, which should be able to perform different service tasks like inspection or coating of the rough surface. With the behavior-based obstacle avoidance system of our robot Cromsci this paper presents a step towards such an autonomous climbing system. Main problems(More)
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