A theory of diagnosis from first principles
Artificial Intelligence
Artificial Intelligence
Remote Agent: to boldly go where no AI system has gone before
Artificial Intelligence - Special issue: artificial intelligence 40 years later
Advanced CORBA programming with C++
Advanced CORBA programming with C++
Model-based diagnosis of hardware designs
Artificial Intelligence
Autonomic Systems for Mobile Robots
ICAC '04 Proceedings of the First International Conference on Autonomic Computing
A modular architecture for a multi-purpose mobile robot
IEA/AIE'2004 Proceedings of the 17th international conference on Innovations in applied artificial intelligence
Classifying and recovering from sensing failures in autonomous mobile robots
AAAI'96 Proceedings of the thirteenth national conference on Artificial intelligence - Volume 2
Towards Automated Online Diagnosis of Robot Navigation Software
SIMPAR '08 Proceedings of the 1st International Conference on Simulation, Modeling, and Programming for Autonomous Robots
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Faults in hardware and software are not totally avoidable not even if the components are carefully designed, implemented and tested. In this paper we present a solution for detection, localization and repair of faults in the control software for autonomous mobile robots. The presented diagnosis system uses model-based diagnosis for fault detection and localization. Furthermore, we present a method which enables the robot control software to recover from located faults. The novelty of our approach is that fault localization and repair takes place at runtime. Moreover, we present experimental results of the proposed diagnosis system obtained in the RoboCup Middle-Size scenario.