Michael De Rosa, Seth Copen Goldstein, Peter Lee, Jason D. Campbell, and Padmanabhan Pillai
@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},
venue = {Robotics: Science and Systems Workshop on
Self-Reconfigurable Modular Robots},
title = {Distributed Watchpoints: Debugging Very Large Ensembles of
Robots},
month = {August},
year = {2006},
keywords = {Debugging, Distributed Systems},
address = {Philadelphia, PA},
talk = {http://www.cs.cmu.edu/~seth/papers/derosa-talk-rss06.pdf},
url = {http://www.cs.cmu.edu/~claytronics/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.},
}