Abstract:The continued development of mobile robots (MR) must be accompanied by an increase in robotics' safety measures. Not only must MR be capable of detecting and diagnosing faults, they should also be capable of understanding when the dangers of a mission, to themselves and the surrounding environment, warrant the abandonment of their endeavors. Analysis of fault detection and diagnosis techniques helps shed light on the challenges of the robotic field, while also showing a lack of research in autonomous decision-making tools. This paper proposes a new skill-based architecture for mobile robots, together with a novel risk assessment and decision-making model to overcome the difficulties currently felt in autonomous robot design.

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