Online data-driven fault detection for robotic systems

Golombek, R. and Wrede, S. and Hanheide, Marc and Heckmann, M. (2011) Online data-driven fault detection for robotic systems. In: Conference of 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11, 25-30 September 2011, San Francisco, California.

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Abstract

In this paper we demonstrate the online applicability of the fault detection and diagnosis approach which we previously developed and published in 1. In our former work we showed that a purely data driven fault detection approach can be successfully built based on monitored inter-component communication data of a robotic system and used for a-posteriori fault detection. Here we propose an extension to this approach which is capable of online learning of the fault model as well as for online fault detection. We evaluate the application of our approach in the context of a RoboCup task executed by our service robot BIRON in corporation with an expert user. © 2011 IEEE.

Item Type:Conference or Workshop contribution (Paper)
Additional Information:Conference Code: 87712
Keywords:Communication data, Data driven, Detection approach, Expert users, Fault detection and diagnosis, Fault model, On-line fault detection, Online learning, RoboCup, Robotic systems, Service robots, Intelligent robots, Online systems, Robotics, Fault detection
Subjects:H Engineering > H670 Robotics and Cybernetics
Divisions:College of Science > School of Computer Science
ID Code:8313
Deposited By: Marc Hanheide
Deposited On:02 Apr 2013 17:40
Last Modified:07 Apr 2013 20:06

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