A theory of diagnosis from first principles
Artificial Intelligence
Artificial Intelligence
Readings in qualitative reasoning about physical systems
Readings in qualitative reasoning about physical systems
Readings in model-based diagnosis
Readings in model-based diagnosis
Remote Agent: to boldly go where no AI system has gone before
Artificial Intelligence - Special issue: artificial intelligence 40 years later
Robust model-based fault diagnosis for dynamic systems
Robust model-based fault diagnosis for dynamic systems
Model-based diagnosis of hardware designs
Artificial Intelligence
Introduction to AI Robotics
Robot Motion Planning
An Approach to Model-Based Diagnosis of Hybrid Systems
HSCC '02 Proceedings of the 5th International Workshop on Hybrid Systems: Computation and Control
Mode Estimation of Probabilistic Hybrid Systems
HSCC '02 Proceedings of the 5th International Workshop on Hybrid Systems: Computation and Control
Bayesian Fault Detection and Diagnosis in Dynamic Systems
Proceedings of the Seventeenth National Conference on Artificial Intelligence and Twelfth Conference on Innovative Applications of Artificial Intelligence
Introduction to Autonomous Mobile Robots
Introduction to Autonomous Mobile Robots
Automated Source-Level Error Localization in Hardware Designs
IEEE Design & Test
Hybrid Estimation of Complex Systems (Lecture Notes in Control and Information Sciences)
Hybrid Estimation of Complex Systems (Lecture Notes in Control and Information Sciences)
A causal analysis method for concurrent hybrid automata
AAAI'06 Proceedings of the 21st national conference on Artificial intelligence - Volume 1
Distributed monitoring of hybrid systems: a model-directed approach
IJCAI'01 Proceedings of the 17th international joint conference on Artificial intelligence - Volume 1
Detecting and locating faults in the control software of autonomous mobile robots
IJCAI'05 Proceedings of the 19th international joint conference on 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
A model-based approach to reactive self-configuring systems
AAAI'96 Proceedings of the thirteenth national conference on Artificial intelligence - Volume 2
How UGVs physically fail in the field
IEEE Transactions on Robotics
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Retaining functionality of a mobile robot in the presence of faults is of particular interest in autonomous robotics. From our experiences in robotics we know that hardware is one of the weak points in mobile robots. In this paper we present the foundations of a system that automatically monitors the driving device of a mobile robot. In case of a detected fault, e.g., a broken motor, the system automatically reconfigures the robot in order to still allow to reach a certain position. The described system is based on a generalized model of the motion hardware. High-level control like path-planner only to change its behavior in case of a serious damage. The high-level control system remains the same. In the paper we present the model and the foundations of the diagnosis and reconfiguration system.