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Run-time detection of faults in autonomous mobile robots based on the comparison of simulated and real robot behaviour

Millard, A.G.; Timmis, J.; Winfield, Alan F.T.

Authors

A.G. Millard

J. Timmis

Alan F.T. Winfield

Abstract

This paper presents a novel approach to the run-time detection of faults in autonomous mobile robots, based on simulated predictions of real robot behaviour. We show that although simulation can be used to predict real robot behaviour, drift between simulation and reality occurs over time due to the reality gap. This necessitates periodic reinitialisation of the simulation to reduce false positives. Using a simple obstacle avoidance controller afflicted with partial motor failure, we show that selecting the length of this reinitialisation time period is non-trivial, and that there exists a trade-off between minimising drift and the ability to detect the presence of faults.

Presentation Conference Type Conference Paper (unpublished)
Start Date Sep 14, 2014
Publication Date Sep 1, 2014
Peer Reviewed Peer Reviewed
Pages 3720-3725
Institution Citation Millard, A., Timmis, J., & Winfield, A. F. (2014, September). Run-time detection of faults in autonomous mobile robots based on the comparison of simulated and real robot behaviour. Paper presented at 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014)
DOI https://doi.org/10.1109/IROS.2014.6943084
Keywords collision avoidance, fault diagnosis, mobile robots
Publisher URL http://dx.doi.org/10.1109/IROS.2014.6943084
Additional Information Title of Conference or Conference Proceedings : Intelligent Robots and Systems (IROS 2014), 2014 IEEE/RSJ International Conference on

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