论文标题
迈向弹性机器人自主权的科学
Towards a Science of Resilient Robotic Autonomy
论文作者
论文摘要
本讨论论文旨在支持需要开发富有弹性的机器人自主科学科学的论证过程。讨论了与鲁棒性，冗余性和机智有关的弹性及其关键特征，随后是针对促进弹性自主权至关重要的研究主题和领域的选定但详尽的列表。最后但并非最不重要的一点是，提出了机器人技术新设计范式的可能方向的概述。该手稿有意简短且抽象。它可以打开讨论并提出问题。答案必须在社区进行研究的实际过程以及在不断增加的现实用例集合中引入机器人技术的框架中找到答案。它的当前形式基于在进行对机器人系统进行研究的经验中确定的思想，以在某些类型的极端环境中获得自治，例如地下环境，核设施，农业区和长期越野部署。该文档的上下文将发生变化，并且将进行迭代重新审视。
This discussion paper aims to support the argument process for the need to develop a comprehensive science of resilient robotic autonomy. Resilience and its key characteristics relating to robustness, redundancy, and resourcefulness are discussed, followed by a selected - but not exhaustive - list of research themes and domains that are crucial to facilitate resilient autonomy. Last but not least, an outline of possible directions of a new and enhanced design paradigm in robotics is presented. This manuscript is intentionally short and abstract. It serves to open the discussion and raise questions. The answers will necessarily be found in the actual process of conducting research by the community and in the framework of introducing robotics in an ever increasing set of real-life use cases. Its current form is based on thoughts identified within the ongoing experience of conducting research for robotic systems to gain autonomy in certain types of extreme environments such as subterranean settings, nuclear facilities, agriculture areas, and long-term off-road deployments. The very context of this document will be subject to change and it will be iteratively revisited.
