{"id":"https://openalex.org/W3207431178","doi":"https://doi.org/10.1109/icra48506.2021.9560876","title":"Effective Crash Recovery of Robot Software Programs in ROS","display_name":"Effective Crash Recovery of Robot Software Programs in ROS","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3207431178","doi":"https://doi.org/10.1109/icra48506.2021.9560876","mag":"3207431178"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9560876","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9560876","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5053316667","display_name":"Yong-Hao Zou","orcid":"https://orcid.org/0000-0002-5978-8934"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yong-Hao Zou","raw_affiliation_strings":["Tsinghua University,Department of Computer Science and Technology,Beijing,China","Department of Computer Science and Technology, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,Department of Computer Science and Technology,Beijing,China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"Department of Computer Science and Technology, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5017174482","display_name":"Jia-Ju Bai","orcid":"https://orcid.org/0000-0002-9500-6100"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jia-Ju Bai","raw_affiliation_strings":["Tsinghua University,Department of Computer Science and Technology,Beijing,China","Department of Computer Science and Technology, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,Department of Computer Science and Technology,Beijing,China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"Department of Computer Science and Technology, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5053316667"],"corresponding_institution_ids":["https://openalex.org/I99065089"],"apc_list":null,"apc_paid":null,"fwci":1.2067,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.7990718,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":98},"biblio":{"volume":"33","issue":null,"first_page":"9498","last_page":"9504"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10743","display_name":"Software Testing and Debugging Techniques","score":0.9958999752998352,"subfield":{"id":"https://openalex.org/subfields/1712","display_name":"Software"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10743","display_name":"Software Testing and Debugging Techniques","score":0.9958999752998352,"subfield":{"id":"https://openalex.org/subfields/1712","display_name":"Software"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T13382","display_name":"Robotics and Automated Systems","score":0.9958000183105469,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9951000213623047,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/crash","display_name":"Crash","score":0.8364811539649963},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.818801760673523},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.6591313481330872},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6233123540878296},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6199895143508911},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6077254414558411},{"id":"https://openalex.org/keywords/overhead","display_name":"Overhead (engineering)","score":0.5525074005126953},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.44256144762039185},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.14505550265312195},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.06867876648902893}],"concepts":[{"id":"https://openalex.org/C183469790","wikidata":"https://www.wikidata.org/wiki/Q333501","display_name":"Crash","level":2,"score":0.8364811539649963},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.818801760673523},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.6591313481330872},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6233123540878296},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6199895143508911},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6077254414558411},{"id":"https://openalex.org/C2779960059","wikidata":"https://www.wikidata.org/wiki/Q7113681","display_name":"Overhead (engineering)","level":2,"score":0.5525074005126953},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.44256144762039185},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.14505550265312195},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.06867876648902893},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48506.2021.9560876","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9560876","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W2029756783","https://openalex.org/W2090899163","https://openalex.org/W2293328939","https://openalex.org/W2508937658","https://openalex.org/W2535547924","https://openalex.org/W2733925907","https://openalex.org/W2751589102","https://openalex.org/W2765705929","https://openalex.org/W2978625324","https://openalex.org/W3015753335","https://openalex.org/W3102327032","https://openalex.org/W3134097997","https://openalex.org/W6768331163","https://openalex.org/W6791284373"],"related_works":["https://openalex.org/W2026516036","https://openalex.org/W626940945","https://openalex.org/W2040826996","https://openalex.org/W375763875","https://openalex.org/W2111579573","https://openalex.org/W120748129","https://openalex.org/W2061344455","https://openalex.org/W2744235150","https://openalex.org/W3213722473","https://openalex.org/W2110944602"],"abstract_inverted_index":{"Modern":[0],"robot":[1,37,98,139],"systems":[2],"use":[3],"various":[4],"software":[5,26,140],"programs":[6,81,141,157],"to":[7,16,40,55,69,99,133,154],"autonomously":[8],"perform":[9,41,88,100,134],"different":[10,155],"kinds":[11],"of":[12,19,78,138],"tasks.":[13],"However,":[14,74],"due":[15],"the":[17,36,42,48,57,84,97,107,115,194],"risks":[18],"possible":[20],"faults":[21],"and":[22,92,117,150,170,181,197],"errors,":[23],"a":[24,65,128,146],"robotic":[25],"program":[27,50],"can":[28,87,94],"inevitably":[29],"crash":[30,90,116,136,176],"in":[31,142,178],"some":[32],"cases,":[33],"causing":[34],"that":[35,83,111,172,191],"system":[38],"fails":[39],"current":[43],"task.":[44,59],"Thus,":[45],"for":[46],"robustness,":[47],"crashed":[49,72],"should":[51],"be":[52],"correctly":[53],"recovered":[54],"continue":[56],"failed":[58],"For":[60],"this":[61,104,124],"purpose,":[62],"ROS":[63,80,156,160,168],"provides":[64],"default":[66],"restart":[67,71,85],"method":[68,86,105],"automatically":[70],"programs.":[73],"our":[75],"case":[76],"studies":[77],"typical":[79],"show":[82,171],"incorrect":[89],"recovery,":[91],"it":[93,151],"even":[95],"cause":[96],"dangerous":[101],"behaviors,":[102],"because":[103],"loses":[106],"program&#x2019;s":[108],"important":[109],"data":[110],"was":[112],"stored":[113],"before":[114],"is":[118,152],"used":[119],"after":[120],"recovery.":[121],"To":[122],"solve":[123],"problem,":[125],"we":[126],"develop":[127],"practical":[129],"approach":[130],"named":[131],"RORY,":[132],"effective":[135],"recovery":[137,177],"ROS.":[143],"RORY":[144,164,173,192],"uses":[145],"hybrid":[147],"checkpoint-replay":[148],"method,":[149],"generic":[153],"by":[158],"considering":[159],"properties.":[161],"We":[162],"evaluate":[163],"on":[165],"6":[166],"common":[167],"programs,":[169],"performs":[174],"correct":[175],"both":[179],"virtual":[180],"realistic":[182],"environments":[183],"with":[184],"modest":[185],"overhead.":[186],"The":[187],"comparison":[188],"experiments":[189],"indicate":[190],"outperforms":[193],"restart,":[195],"checkpoint-alone":[196],"replay-alone":[198],"methods.":[199]},"counts_by_year":[{"year":2024,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
