Multi-Layered Model Based Diagnosis in Robots Academic Article uri icon


  • ABSTRACT The problem of fault diagnosis in the domains of robotics and autonomous systems are unique and interesting. A hidden internal fault affects not only other hardware components, as in any other machine, but also the different layers of abstraction and control in the sensethink-act cycle that the robot carries. We propose to implement a model-based diagnosis approach by utilizing the robot's controlarchitecture as a model to detect faults and to associate high-level abstractions with lowlevel hardware components. Furthermore …

publication date

  • January 1, 2012