@inproceedings{KuestenmacherPloeger2012,
  author    = {Anastassia K{\"u}stenmacher and Paul Pl{\"o}ger},
  title     = {Categorization of External Unknown Faults in Robotics},
  series = {Proceedings of the 23rd International Workshop on Principles of Diagnosis (DX-2012). Great Malvern, UK},
  year      = {2012},
  abstract  = {In the realm of service robots recovery from faults is indispensable to foster user acceptance. Here fault is to be understood not in the sense of robot internal, rather as interaction faults while situated in and interacting with an environment (aka ex-ternal faults). We reason along the most frequent failures in typical scenarios which we observed during real-world demonstrations and competitions using our Care-O-bot III 1 robot. They take place in an apartment-like environments which is known as closed world. We suggest four different -for now adhoc -fault categories caused by disturbances, imperfect per-ception, inadequate planning or chaining of action sequences. The fault are categorized and then mapped to a handful of partly known, partly extended fault handling techniques. Among them we applied qualitative reasoning, use of simu-lation as oracle, learning for planning (aka en-hancement of plan operators) or -in future -case-based reasoning. Having laid out this frame we mainly ask open questions related to the applicability of the pre-sented approach. Amongst them: how to find new categories, how to extend them, how to as-sure disjointness, how to identify old and label new faults on the fly.},
  language  = {en}
}