Diagnosis makes the difference for a successful execution of high-level robot control programs

Clemens Mühlbacher*, Gerald Steinbauer

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Faults in action execution and perception that occur at runtime negatively affects the probability that an agent is able to finish a task successfully. There are several techniques such as hand-coded error recovery or diagnosis and repair approaches to deal with this problem. In this paper we present an experimental comparison of the fault tolerance of the popular (CRAM) framework using hand-coded error recovery and an approach using model-based diagnosis. The approaches were evaluated using a simulated robot delivery domain. Experimental results confirm that a control approach using diagnosis is able to significantly increase the success-rate and outperforms hand-coded error strategies.

Original languageEnglish
Title of host publicationIntelligent Autonomous Systems - Proceedings of the 13th International Conference IAS, 2014
PublisherSpringer Verlag
Pages1119-1132
Number of pages14
Volume302
ISBN (Print)9783319083377
DOIs
Publication statusPublished - 2016
Event13th International Conference on Intelligent Autonomous Systems, IAS 2014 - Padova, Italy
Duration: 15 Jul 201418 Jul 2014

Publication series

NameAdvances in Intelligent Systems and Computing
Volume302
ISSN (Print)21945357

Conference

Conference13th International Conference on Intelligent Autonomous Systems, IAS 2014
CountryItaly
CityPadova
Period15/07/1418/07/14

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science(all)

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  • Cite this

    Mühlbacher, C., & Steinbauer, G. (2016). Diagnosis makes the difference for a successful execution of high-level robot control programs. In Intelligent Autonomous Systems - Proceedings of the 13th International Conference IAS, 2014 (Vol. 302, pp. 1119-1132). (Advances in Intelligent Systems and Computing; Vol. 302). Springer Verlag. https://doi.org/10.1007/978-3-319-08338-4_81