Title :
An embedded monitoring system for intelligent robots
Author :
Hasemann, Jörg-Michael ; Heikkilä, Tapio
Author_Institution :
Electron. Lab., Tech. Res. Centre of Finland, Oulu, Finland
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;
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
DOI :
10.1109/IROS.1993.583809
