DocumentCode
920051
Title
Diagnosis by a waiter and a Mars explorer
Author
De Freitas, Nando ; Dearden, Richard ; Hutter, Frank ; Morales-Menéndez, Rubén ; Mutch, Jim ; Poole, David
Author_Institution
Dept. of Comput. Sci., Univ. of British Columbia, Vancouver, BC, Canada
Volume
92
Issue
3
fYear
2004
fDate
3/1/2004 12:00:00 AM
Firstpage
455
Lastpage
468
Abstract
This paper shows how state-of-the-art state estimation techniques can be used to provide efficient solutions to the difficult problem of real-time diagnosis in mobile robots. The power of the adopted estimation techniques resides in our ability to combine particle filters with classical algorithms, such as Kalman filters. We demonstrate these techniques in two scenarios: a mobile waiter robot and planetary rovers designed by NASA for Mars exploration.
Keywords
Kalman filters; Mars; fault diagnosis; filtering theory; mobile robots; planetary rovers; planetary surfaces; state estimation; Kalman filters; Mars exploration; Mars explorer; NASA; classical algorithms; fault diagnosis; mobile robots; mobile waiter robot; particle filters; planetary rovers; real-time diagnosis; state estimation techniques; Computer science; Filtering; Hidden Markov models; Mars; Mobile robots; NASA; Particle filters; Robotics and automation; State estimation; Wheels;
fLanguage
English
Journal_Title
Proceedings of the IEEE
Publisher
ieee
ISSN
0018-9219
Type
jour
DOI
10.1109/JPROC.2003.823157
Filename
1271400
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