@inproceedings{KuestenmacherPloegerLakemeyer2013,
  author    = {Anastassia K{\"u}stenmacher and Paul G. Pl{\"o}ger and Gerhard Lakemeyer},
  title     = {Improving Robustness of Task Execution Against External Faults Using Simulation Based Approach},
  series = {Feldman, Kalech et al. (Eds.): Proceedings of The 24th International Workshop on Principles of Diagnosis. DX’13. Jerusalem, October 1-4, 2013},
  pages     = {198 -- 203},
  year      = {2013},
  abstract  = {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.},
  language  = {en}
}