oru.sePublications
Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
Model-Free Execution Monitoring in Behavior-Based Robotics
(AASS)
Örebro University, Department of Technology. (AASS)ORCID iD: 0000-0002-0458-2146
Örebro University, Department of Technology. (AASS)ORCID iD: 0000-0001-8229-1363
2007 (English)In: IEEE transactions on systems, man and cybernetics. Part B. Cybernetics, ISSN 1083-4419, E-ISSN 1941-0492, Vol. 37, no 4, p. 890-901Article in journal (Refereed) 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.

Place, publisher, year, edition, pages
New York, NY: Institute of Electrical and Electronics Engineers , 2007. Vol. 37, no 4, p. 890-901
Keywords [en]
robot, execution monitoring, plans, behaviors, artificial intelligence, neural networks
National Category
Computer Sciences Engineering and Technology Computer and Information Sciences
Research subject
Computer Science
Identifiers
URN: urn:nbn:se:oru:diva-4654DOI: 10.1109/TSMCB.2007.895359OAI: oai:DiVA.org:oru-4654DiVA, id: diva2:138953
Available from: 2008-10-22 Created: 2008-10-22 Last updated: 2018-01-13Bibliographically approved

Open Access in DiVA

No full text in DiVA

Other links

Publisher's full text

Authority records BETA

Karlsson, LarsSaffiotti, Alessandro

Search in DiVA

By author/editor
Karlsson, LarsSaffiotti, Alessandro
By organisation
Department of Technology
In the same journal
IEEE transactions on systems, man and cybernetics. Part B. Cybernetics
Computer SciencesEngineering and TechnologyComputer and Information Sciences

Search outside of DiVA

GoogleGoogle Scholar

doi
urn-nbn

Altmetric score

doi
urn-nbn
Total: 360 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf