Towards a Science of Resilient Robotic Autonomy (2004.02403v1)

Abstract: 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.