Adding diagnostics to intelligent robot systems

被引：0

作者：

Chandrababu, Sneha ^{[1
]}

Christensen, Henrik I. ^{[1
]}

机构：

[1] Georgia Inst Technol, Coll Comp, Atlanta, GA 30332 USA

来源：

2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS | 2009年

关键词：

Diagnostics; Intelligent Robotics; Bayesian network; Troubleshooting; Quantitative Modeling; BAYESIAN NETWORKS; FAULT-DIAGNOSIS;

D O I：

10.1109/IROS.2009.5354626

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

Robot systems are increasing in complexity. Trying to diagnose a robot that is non-functional or exhibiting suboptimal performance can be a major challenge. A framework for plug-n-play addition of diagnostics to modules in an object oriented software framework is presented. The methods for modeling of system modules, their transition to a Bayesian model and final implementation are described. The methodology is exemplified for a mobile manipulation system and experimental results are presented.

引用

页码：3961 / 3967

页数：7

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