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

Millard, Alan G.; Timmis, Jon; Winfield, Alan F.T.

Authors

Alan G. Millard

Jon Timmis

Alan F.T. Winfield



Abstract

© 2014 IEEE. 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.

Citation

Millard, A. G., Timmis, J., & Winfield, A. F. (2014). Run-time detection of faults in autonomous mobile robots based on the comparison of simulated and real robot behaviour. Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems, 3720-3725. https://doi.org/10.1109/IROS.2014.6943084

Journal Article Type Conference Paper
Conference Name 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014)
Publication Date Jan 1, 2014
Publicly Available Date Sep 24, 2023
Journal IEEE International Conference on Intelligent Robots and Systems
Print ISSN 2153-0858
Electronic ISSN 2153-0866
Peer Reviewed Peer Reviewed
Pages 3720-3725
DOI https://doi.org/10.1109/IROS.2014.6943084
Keywords collision avoidance, fault diagnosis, mobile robots
Public URL https://uwe-repository.worktribe.com/output/813019
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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