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.
Document Type: | Conference Object |
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Language: | English |
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 |