A Fast Method for Explanations of Failures in Optimization-Based Robot Motion Planning

Matthias Josef Eder*, Gerald Steinbauer-Wagner

*Korrespondierende/r Autor/-in für diese Arbeit

Publikation: Beitrag in Buch/Bericht/KonferenzbandBeitrag in einem KonferenzbandBegutachtung

Abstract

The transparent interaction between an operator and a robot system is essential for successful task completion. This requires a mutual understanding of decisions and processes in order to provide accurate diagnoses and troubleshooting alternatives in the event of a failure. Due to inaccuracies in the environmental perception or planner configuration, errors can occur in robot motion planning that are hard to understand by the operator. In this work we present a method that is able to provide explanations for motion planning failures quickly. In the context of optimization-based planners, failures origin from planning constraints can be identified using an adaption of the FastDiag algorithm. It is able to provide one preferred minimal diagnosis in logarithmic time, also for large constraint sets. To evaluate the applicability of the proposed method, experiments are conducted that compare the computational performance to an existing method while considering different parameters such as number of constraints and requested diagnoses.
Originalspracheenglisch
TitelAdvances in Service and Industrial Robotics - RAAD 2022
Redakteure/-innenAndreas Müller, Mathias Brandstötter
Herausgeber (Verlag)Springer
Seiten114-121
Seitenumfang8
ISBN (Print)9783031048692
DOIs
PublikationsstatusVeröffentlicht - 2022
Veranstaltung31st International Conference on Robotics in Alpe-Adria-Danube Region: RAAD 2022 - Klagenfurt, Österreich
Dauer: 8 Juni 202210 Juni 2022

Publikationsreihe

NameMechanisms and Machine Science
Band120 MMS
ISSN (Print)2211-0984
ISSN (elektronisch)2211-0992

Konferenz

Konferenz31st International Conference on Robotics in Alpe-Adria-Danube Region
KurztitelRAAD 2022
Land/GebietÖsterreich
OrtKlagenfurt
Zeitraum8/06/2210/06/22

ASJC Scopus subject areas

  • Werkstoffmechanik
  • Maschinenbau

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