Efficient hybrid fault detection for autonomous robots

Eliahu Khalastchi, Meir Kalech

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

The use of robots has increased significantly in the recent years; rapidly expending to numerous applications. Yet, these sophisticated and sometimes expensive machines are susceptible to faults that might endanger the robot or its surroundings (e.g., a crash of an Unmanned Aerial Vehicle (UAV)). To prevent such faults, the robot's operation needs to be monitored by Fault Detection (FD) algorithms. An autonomous robot, which is already engaged with heavy computational tasks, has to continuously apply FD on its own. Thus, the impact of a FD process on the robot's resources should be minimized. Unfortunately, the computational load of existing FD approaches, which may be very accurate, might be impractical for an autonomous robot. To solve this problem, we suggest to use a hybrid approach. A very efficient FD algorithm is applied continuously and is used to trigger a heavier, more accurate, FD approach that determines the occurrence of a fault. In this paper we focus on the efficient FD algorithm. We test the algorithm in several real-world and simulated domains and we show and discuss the promising results.

Original languageEnglish
Title of host publicationProceedings of the 19th International Conference on Autonomous Agents and Multiagent Systems, AAMAS 2020
EditorsBo An, Amal El Fallah Seghrouchni, Gita Sukthankar
PublisherInternational Foundation for Autonomous Agents and Multiagent Systems (IFAAMAS)
Pages1884-1886
Number of pages3
ISBN (Electronic)9781450375184
StatePublished - 1 Jan 2020
Event19th International Conference on Autonomous Agents and Multiagent Systems, AAMAS 2020 - Virtual, Auckland, New Zealand
Duration: 19 May 2020 → …

Publication series

NameProceedings of the International Joint Conference on Autonomous Agents and Multiagent Systems, AAMAS
Volume2020-May
ISSN (Print)1548-8403
ISSN (Electronic)1558-2914

Conference

Conference19th International Conference on Autonomous Agents and Multiagent Systems, AAMAS 2020
Country/TerritoryNew Zealand
CityVirtual, Auckland
Period19/05/20 → …

Keywords

  • [ROB] Failure recovery for robots
  • [ROB] Long-term (or lifelong) autonomy for robotic systems

ASJC Scopus subject areas

  • Artificial Intelligence
  • Software
  • Control and Systems Engineering

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