An embedded monitoring system for intelligent robots

Author

Hasemann, Jörg-Michael ; Heikkilä, Tapio

Author_Institution

Electron. Lab., Tech. Res. Centre of Finland, Oulu, Finland

Volume

2

fYear

1993

fDate

26-30 Jul 1993

Firstpage

1431

Abstract

The traditional view of monitoring is extended from the execution-time validity checking of actions towards dynamic plan-validity checking and forecasting of risky situations. Monitoring for intelligent robots is recognized as an independent task, deeply embedded in the dynamics of planning and execution. The solution presented is based on very general assumptions of plans and planning, and is thus widely applicable within control systems over the whole bandwidth of reactivity. JANUS, an experimental monitoring shell based on the concepts of situation grids and world state aspect objects as generic monitors, has been implemented

Keywords

real-time systems; JANUS; control systems; dynamic plan-validity checking; embedded monitoring system; generic monitors; intelligent robots; monitoring shell; reactivity; risk forecasting; situation grids; world state aspect objects; Condition monitoring; Control systems; Electronic mail; History; Intelligent robots; Intelligent sensors; Internet; Laboratories; Robot control; Robot sensing systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems '93, IROS '93. Proceedings of the 1993 IEEE/RSJ International Conference on

Conference_Location

Yokohama

Print_ISBN

0-7803-0823-9

Type

conf

DOI

10.1109/IROS.1993.583809

Filename

583809