Run-time Detection of Faults in Autonomous Mobile Robots Based on the Comparison of Simulated and Real Robot Behaviour

Millard, Alan, Timmis, Jon and Winfield, Alan F.T. (2014) Run-time Detection of Faults in Autonomous Mobile Robots Based on the Comparison of Simulated and Real Robot Behaviour. In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), Chicago.

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Abstract

This paper presents a novel approach to the runtime 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.

Divisions:College of Science > School of Computer Science
ID Code:43300
Deposited On:08 Dec 2020 11:21

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