DocumentCode
3233081
Title
Fault diagnosis on autonomous robotic vehicles with RECOVERY: an integrated heterogeneous-knowledge approach
Author
Hamilton, Kelvin ; Lane, Dave ; Taylor, Nick ; Brown, Keith
Author_Institution
Dept. of Comput. & Electr. Eng., Heriot-Watt Univ., Edinburgh, UK
Volume
4
fYear
2001
fDate
2001
Firstpage
3232
Abstract
The need for embedding fault diagnosis into goal-orientated autonomous robotic vehicles for increased mission robustness is described. The RECOVERY system, a method for increasing the diagnostic capability by integrating commonly available heterogeneous knowledge is presented. Initial real-water results using the Ocean Systems Laboratory´s RAUVER vehicle are given.
Keywords
fault diagnosis; intelligent control; mobile robots; underwater vehicles; Ocean Systems Laboratory; RAUVER vehicle; RECOVERY system; autonomous robotic vehicles; fault diagnosis; heterogeneous knowledge; model based diagnosis; underwater vehicles; Fault diagnosis; Laboratories; Mobile robots; Oceans; Power system modeling; Remotely operated vehicles; Robustness; Space vehicles; Temperature sensors; Underwater vehicles;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on
ISSN
1050-4729
Print_ISBN
0-7803-6576-3
Type
conf
DOI
10.1109/ROBOT.2001.933116
Filename
933116
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