Applications such as mobile or industrial robotics gain increasing autonomous capabilities. Autonomous systems can adapt dynamically to user goals, perceive the environment and solve complex tasks without human intervention. During operation, unsafe system states may occur in a priori unknown scenarios, which can lead to an impairment or a safety risk. Self-healing is an inherent and necessary property of these systems. In this article, we present an architecture of self-healing systems. Using the example of an autonomous mobile robot, we present the results and possible application in a smart factory.
