TY  - CHAP
U1  - Konferenzveröffentlichung
A1  - Küstenmacher, Anastassia
A1  - Plöger, Paul G.
A1  - Lakemeyer, Gerhard
T1  - Improving Robustness of Task Execution Against External Faults Using Simulation Based Approach
T2  - Feldman, Kalech et al. (Eds.): Proceedings of The 24th International Workshop on Principles of Diagnosis. DX’13. Jerusalem, October 1-4, 2013
N2  - Robots interacting in complex and cluttered environments may face unexpected situations referred to as external faults which prohibit the successful completion of their tasks. In order to function in a more robust manner, robots need to recognise these faults and learn how to deal with them in the future. We present a simulation-based technique to avoid external faults occurring during execusion releasing actions of a robot. Our technique utilizes simulation to generate a set of labeled examples which are used by a histogram algorithm to compute a safe region. A safe region consists of a set of releasing states of an object that correspond to successful performances of the action. This technique also suggests a general solution to avoid the occurrence of external faults for not only the current, observable object but also for any other object of the same shape but different size.
Y1  - 2013
SP  - 198
EP  - 203
ER  -