Paper Info
Title
Run-time detection of faults in autonomous mobile robots based on the comparison of simulated and real robot behaviour
Abstract
This paper presents a novel approach to the run-time detection of faults in autonomous mobile robots, based on simulated predictions of real robot behaviour. We show that although simulation can be used to predict real robot behaviour, drift between simulation and reality occurs over time due to the reality gap. This necessitates periodic reinitialisation of the simulation to reduce false positives. Using a simple obstacle avoidance controller afflicted with partial motor failure, we show that selecting the length of this reinitialisation time period is non-trivial, and that there exists a trade-off between minimising drift and the ability to detect the presence of faults.
Year
DOI
Venue
2014
10.1109/IROS.2014.6943084
Intelligent Robots and Systems
Keywords
Field
DocType
collision avoidance,fault diagnosis,mobile robots,autonomous mobile robots,drift minimisation,false positives,obstacle avoidance controller,partial motor failure,periodic reinitialisation,real robot behaviour,run-time faults detection,simulated robot behaviour
Obstacle avoidance,Robot control,Control theory,Computer science,Simulation,Control engineering,Robot,Periodic graph (geometry),Mobile robot,False positive paradox
Conference
ISSN
Citations 
PageRank 
2153-0858
4
0.46
References 
Authors
8
3
Name
Order
Citations
PageRank
Alan G. Millard1245.94
Jon Timmis21237120.32
Alan F. Winfield361159.18