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Improving Robustness of Task Execution Against External Faults Using Simulation Based Approach

  • 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.

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Document Type:Conference Object
Author:Anastassia Küstenmacher, Paul G. Plöger, Gerhard Lakemeyer
Parent Title (English):Feldman, Kalech et al. (Eds.): Proceedings of The 24th International Workshop on Principles of Diagnosis. DX’13. Jerusalem, October 1-4, 2013
First Page:198
Last Page:203
Publication year:2013
Departments, institutes and facilities:Fachbereich Informatik
Dewey Decimal Classification (DDC):0 Informatik, Informationswissenschaft, allgemeine Werke / 00 Informatik, Wissen, Systeme / 004 Datenverarbeitung; Informatik
Entry in this database:2015/05/13