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Adding diagnostics to intelligent robot systems

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2 Author(s)
Chandrababu, S. ; Coll. of Comput., Georgia Inst. of Technol., Atlanta, GA, USA ; Christensen, H.I.

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.

Published in:

Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on

Date of Conference:

10-15 Oct. 2009