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Model-Free Execution Monitoring in Behavior-Based Robotics
(AASS)
Örebro universitet, Institutionen för teknik. (AASS)ORCID-id: 0000-0002-0458-2146
Örebro universitet, Institutionen för teknik. (AASS)ORCID-id: 0000-0001-8229-1363
2007 (engelsk)Inngår i: IEEE transactions on systems, man and cybernetics. Part B. Cybernetics, ISSN 1083-4419, E-ISSN 1941-0492, Vol. 37, nr 4, s. 890-901Artikkel i tidsskrift (Fagfellevurdert) Published
Abstract [en]

In the near future, autonomous mobile robots are expected to help humans by performing service tasks in many different areas, including personal assistance, transportation, cleaning, mining, or agriculture. In order to manage these tasks in a changing and partially unpredictable environment without the aid of humans, the robot must have the ability to plan its actions and to execute them robustly and safely. The robot must also have the ability to detect when the execution does not proceed as planned and to correctly identify the causes of the failure. An execution monitoring system allows the robot to detect and classify these failures. Most current approaches to execution monitoring in robotics are based on the idea of predicting the outcomes of the robot’s actions by using some sort of predictive model and comparing the predicted outcomes with the observed ones. In contrary, this paper explores the use of model-free approaches to execution monitoring, that is, approaches that do not use predictive models. In this paper, we show that pattern recognition techniques can be applied to realize model-free execution monitoring by classifying observed behavioral patterns into normal or faulty execution. We investigate the use of several such techniques and verify their utility in a number of experiments involving the navigation of a mobile robot in indoor environments.

sted, utgiver, år, opplag, sider
New York, NY: Institute of Electrical and Electronics Engineers , 2007. Vol. 37, nr 4, s. 890-901
Emneord [en]
robot, execution monitoring, plans, behaviors, artificial intelligence, neural networks
HSV kategori
Forskningsprogram
data- och systemvetenskap
Identifikatorer
URN: urn:nbn:se:oru:diva-4654DOI: 10.1109/TSMCB.2007.895359OAI: oai:DiVA.org:oru-4654DiVA, id: diva2:138953
Tilgjengelig fra: 2008-10-22 Laget: 2008-10-22 Sist oppdatert: 2018-01-13bibliografisk kontrollert

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Karlsson, LarsSaffiotti, Alessandro

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