On the Characterization of Resilience vs Robustness of Autonomous Robotic Systems

Abstract

Robotics for lunar surface operations was first studied in 1989 and updated in 2019 to include reusable, modular, and interoperable framework for space-qualifiable space autonomous robotic software systems. There is a clear distinction in autonomous robotic systems between the meanings of a “control system” and a “system under control”, with explicit representation of behavioral models. Autonomous system operational behavior is controlled through software design, best optimized when software engineers translate and code system engineers’ understanding of system behavior. The certification process often requires safety cases showing structured argument of a system's safety in a certain context. Optimal behavior of autonomous robotic system is evidenced by two qualitative characteristics--- robustness and resiliency, when quantitatively measured, help to standardize and certify autonomous robotic systems. The purpose of this paper is to characterize prospective metrics under study –robustness and resilience—and relevancy to the Artemis Mission. Key Terms—Space Robotics and Certification; Multi-Robot Systems; Autonomous Agents