Title :
A dependable perception-decision-execution cycle for autonomous robots
Author :
Gspandl, Stephan ; Podesser, Siegfried ; Reip, Michael ; Steinbauer, Gerald ; Wolfram, Máté
Author_Institution :
Inst. for Software Technol., Graz Univ. of Technol., Graz, Austria
Abstract :
The tasks robots are employed to achieve are becoming increasingly complex, demanding for dependable operation, especially if robots and humans share common space. Unfortunately, for these robots non-determinism is a severe challenge. Malfunctioning hardware, inaccurate sensors, exogenous events and incomplete knowledge lead to inconsistencies in the robot´s belief about the world.
Keywords :
mobile robots; uncertain systems; autonomous robots; dependable operation; dependable perception-decision-execution cycle; exogenous events; inaccurate sensors; incomplete knowledge; malfunctioning hardware; nondeterministic robot; robot belief inconsistency; Decision making; History; Maintenance engineering; Planning; Robot sensing systems;
Conference_Titel :
Robotics and Automation (ICRA), 2012 IEEE International Conference on
Conference_Location :
Saint Paul, MN
Print_ISBN :
978-1-4673-1403-9
Electronic_ISBN :
1050-4729
DOI :
10.1109/ICRA.2012.6225078
