Adding diagnostics to intelligent service robots
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Author(s)
Chandrababu, S.
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Abstract
Robot systems are increasing in complexity. Trying
to diagnose a robot that is non-functional or exhibiting suboptimal
performance can be a major challenge. A framework
for plug-n-play addition of diagnostics to modules in an object
oriented software framework is presented. The methods for
modeling of system modules, their transition to a Bayesian model
and final implementation are described. The methodology is
exemplified for a mobile manipulation system and experimental
results are presented.
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Date
2009-10
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Text
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Article