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Steps towards model-free execution monitoring on mobile robots
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
2002 (English)In: Proceedings of the 2nd Swedish workshop on autonomous robots, 2002, p. 45-52Conference paper, Published paper (Refereed)
Abstract [en]

In this paper we present a model-free execution monitor for behavior-based mobile robots. By model-free we mean that the monitoring is based only on the actual execution, without involving any predictive models of the controlled system. Model-free monitors are especially suitable for systems where it is hard to obtain adequate models. In our approach we analyze the activation levels of the different behaviors using a pattern recognition technique. Our model-free execution monitor, which is realized by radial basis function networks, is shown to give a high performance in several realistic simulations.

Place, publisher, year, edition, pages
2002. p. 45-52
National Category
Computer Sciences
Research subject
Computer and Systems Science
Identifiers
URN: urn:nbn:se:oru:diva-3928OAI: oai:DiVA.org:oru-3928DiVA, id: diva2:138227
Conference
2nd Swedish workshop on autonomous robots, SWAR Stockholm, Sweden, 2002
Available from: 2007-08-14 Created: 2007-08-14 Last updated: 2018-01-13Bibliographically approved

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Pettersson, OlaKarlsson, LarsSaffiotti, Alessandro

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