A Hierarchical Monitoring and Diagnosis System for Autonomous Robots

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

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference paperpeer-review

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.

Original languageEnglish
Title of host publication35th International Conference on Principles of Diagnosis and Resilient Systems, DX 2024
EditorsIngo Pill, Avraham Natan, Franz Wotawa
PublisherSchloss Dagstuhl - Leibniz-Zentrum für Informatik
ISBN (Electronic)9783959773560
DOIs
Publication statusPublished - 26 Nov 2024
Event35th International Conference on Principles of Diagnosis and Resilient Systems, DX 2024 - Vienna, Austria
Duration: 4 Nov 20247 Nov 2024

Publication series

NameOpenAccess Series in Informatics
Volume125
ISSN (Print)2190-6807

Conference

Conference35th International Conference on Principles of Diagnosis and Resilient Systems, DX 2024
Country/TerritoryAustria
CityVienna
Period4/11/247/11/24

Keywords

  • Autonomous Agents
  • Cognitive Architecture
  • Dependability
  • Hierarchical Monitoring and Diagnosis

ASJC Scopus subject areas

  • Geography, Planning and Development
  • Modelling and Simulation

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