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Model-free execution monitoring by learning from simulation
Örebro University, Department of Technology. (Mobile Robotics Lab)
Örebro University, Department of Technology. (Mobile Robotics Lab)ORCID iD: 0000-0002-0458-2146
Örebro University, Department of Technology. (Mobile Robotics Lab)ORCID iD: 0000-0001-8229-1363
2005 (English)In: 2005 IEEE International Symposium on Computational Intelligence in Robotics and Automation: CIRA 2005, 2005, p. 505-511Conference paper, Published paper (Refereed)
Abstract [en]

Autonomous robots need the ability to plan their actions and to execute them robustly and in a safe way in face of a changing and partially unpredictable environment. This is especially important if we want to design autonomous robots that can safely co-habitate with humans. In order to manage this, these robots need 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 is a system that allows the robot to detect and classify these failures. In this work we show that pattern recognition techniques can be applied to realize execution monitoring by classifying observed behavioral patterns into normal or faulty behaviors. The approach has been successfully tested on a real robot navigating in an office environment. Interesting, these tests show that we can train an execution monitor in simulation, and then use it in a real robot.

Place, publisher, year, edition, pages
2005. p. 505-511
National Category
Computer Sciences
Research subject
Computer and Systems Science
Identifiers
URN: urn:nbn:se:oru:diva-3903DOI: 10.1109/CIRA.2005.1554327ISBN: 0-7803-9355-4 (print)OAI: oai:DiVA.org:oru-3903DiVA, id: diva2:138202
Conference
2005 IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2005
Available from: 2007-08-13 Created: 2007-08-13 Last updated: 2018-01-13Bibliographically approved

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Pettersson, OlaKarlsson, LarsSaffiotti, Alessandro

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CiteExportLink to record
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Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
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  • Other style
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Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
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  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
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