A Hierarchical Monitoring and Diagnosis System for Autonomous Robots

Gerald Steinbauer-Wagner*, Leo Fürbaß*, Marco De Bortoli*, Louise Travé-Massuyès*

*Korrespondierende/r Autor/-in für diese Arbeit

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

Abstract

This paper addresses the capability of autonomous robots to achieve flexible goals in dynamic environments. In such a setting numerous challenges jeopardize the robustness of such systems. Thus, we propose a hierarchical diagnosis concept for layered control architectures, that can detect and deal with such challenges to maintain a consistent knowledge about the world and to allow reliable decision-making. Layered control systems use various knowledge representations and decision-making mechanisms teamed with specialized isolated fault-handling approaches. However, some issues can only be identified if the information from different layers is combined. Our approach addresses challenges like failing actions, uncertain observations, and unmodeled events by propagating observations and diagnoses results throughout the hierarchy. This enhances adaptability and dependability in various domains. In this paper, we present a prototype architecture following this approach.

Originalspracheenglisch
Titel35th International Conference on Principles of Diagnosis and Resilient Systems, DX 2024
Redakteure/-innenIngo Pill, Avraham Natan, Franz Wotawa
Herausgeber (Verlag)Schloss Dagstuhl - Leibniz-Zentrum für Informatik
ISBN (elektronisch)9783959773560
DOIs
PublikationsstatusVeröffentlicht - 26 Nov. 2024
Veranstaltung35th International Conference on Principles of Diagnosis and Resilient Systems, DX 2024 - Vienna, Österreich
Dauer: 4 Nov. 20247 Nov. 2024

Publikationsreihe

NameOpenAccess Series in Informatics
Band125
ISSN (Print)2190-6807

Konferenz

Konferenz35th International Conference on Principles of Diagnosis and Resilient Systems, DX 2024
Land/GebietÖsterreich
OrtVienna
Zeitraum4/11/247/11/24

ASJC Scopus subject areas

  • Geografie, Planung und Entwicklung
  • Modellierung und Simulation

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