DocumentCode
2107228
Title
Robust execution monitoring for navigation plans
Author
Fernández, Joaquín L. ; Simmons, Reid G.
Author_Institution
Dept. de Ing. Sistemas, Vigo Univ., Spain
Volume
1
fYear
1998
fDate
13-17 Oct 1998
Firstpage
551
Abstract
This paper presents a general approach to robust execution monitoring. The goal is to provide coverage for many types of unexpected and unanticipated situations, while at the same time enabling the robot to quickly detect, and react to, specific contingencies. The approach uses a hierarchy of monitors, structured in layers of increasing specificity. We present the general approach, and show its application in the domain of indoor mobile robot navigation
Keywords
hierarchical systems; mobile robots; monitoring; navigation; contingency detection; contingency reaction; indoor mobile robot navigation; monitor hierarchy; navigation plans; robust execution monitoring; Computer science; Mobile robots; Monitoring; Navigation; Orbital robotics; Programming profession; Robustness; Tree data structures;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 1998. Proceedings., 1998 IEEE/RSJ International Conference on
Conference_Location
Victoria, BC
Print_ISBN
0-7803-4465-0
Type
conf
DOI
10.1109/IROS.1998.724676
Filename
724676
Link To Document