Journal
ROBOTICS AND AUTONOMOUS SYSTEMS
Volume 53, Issue 2, Pages 73-88Publisher
ELSEVIER
DOI: 10.1016/j.robot.2005.09.004
Keywords
robotics; autonomous systems; execution monitoring; fault detection and isolation; diagnosis
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Research on execution monitoring in its own is still not very common within the field of robotics and autonomous systems. It is more common that researchers interested in control architectures or execution planning include monitoring as a small part of their work when they realize that it is needed. On the other hand, execution monitoring has been a well studied topic within industrial control, although control theorists seldom use this term. Instead they refer to the problem of fault detection and isolation (FDI). This survey will use the knowledge and terminology from industrial control in order to classify different execution monitoring approaches applied to robotics. The survey is particularly focused on autonomous mobile robotics. (C) 2005 Elsevier B.V. All rights reserved.
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