2007
DOI: 10.1109/tsmcb.2007.895359
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Model-Free Execution Monitoring in Behavior-Based Robotics

Abstract: In the near future, autonomous mobile robots are expected to help humans by performing service tasks in many different areas, including personal assistance, transportation, cleaning, mining, or agriculture. In order to manage these tasks in a changing and partially unpredictable environment without the aid of humans, the robot must have the ability to plan its actions and to execute them robustly and safely. The robot must also have the ability to detect when the execution does not proceed as planned and to co… Show more

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Cited by 33 publications
(20 citation statements)
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“…[45] and [46], for temporal planning, interleave decision and execution in a dynamic environment to allow plan repair interleaved with execution. [47] uses a model-free approach which observes and classifies the actual behavior of the monitored systems into normal or faulty execution. [48] dynamically reasons about which goals to pursue in response to unexpected circumstances.…”
Section: Related Workmentioning
confidence: 99%
“…[45] and [46], for temporal planning, interleave decision and execution in a dynamic environment to allow plan repair interleaved with execution. [47] uses a model-free approach which observes and classifies the actual behavior of the monitored systems into normal or faulty execution. [48] dynamically reasons about which goals to pursue in response to unexpected circumstances.…”
Section: Related Workmentioning
confidence: 99%
“…[7], for temporal planning, interleave decision and execution in a dynamic environment allow plan repair interleaved with execution. [15] uses a model-free approach which observes and classifies the actual behavior of the monitored systems into normal or faulty execution. [12] dynamically reasons about which goals to pursue in response to unexpected circumstances.…”
Section: Related Workmentioning
confidence: 99%
“…A preconcentrator tube is often used when the sensitivity of the sensor is too low to meet the requirements of the application considered. In a preconcentrator, first the tube accumulates the vapor and then a heat pulse is applied to the tube to desorb the concentrated vapor, and therefore a higher concentration is obtained [11]. In other applications the most problematic aspect might be that the required selectivity is difficult to reach only with an array of gas sensors.…”
Section: The Sampling Systemmentioning
confidence: 99%