Fault detection and identification in a mobile robot using multiple model estimation and neural network

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 3, Issue , 2000, Pages 2302-2309

  Goel, Puneet ^a   Dedeoglu, Goksel ^a   Roumeliotis, Stergios I ^a   Sukhatme, Gaurav S ^a  

^a UNIVERSITY OF SOUTHERN CALIFORNIA   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

FAULT DETECTION AND IDENTIFICATION; MULTIPLE MODEL ADAPTIVE ESTIMATION;

ALGORITHMS; BACKPROPAGATION; FAILURE ANALYSIS; KALMAN FILTERING; MATHEMATICAL MODELS; MATRIX ALGEBRA; NEURAL NETWORKS; PARAMETER ESTIMATION; SENSORS; STATE ESTIMATION;

MOBILE ROBOTS;

EID: 0033715953     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (14)

1. M. Athans, D. Castanon, K.P. Dunn, C.S. Greene, W.H. Lee, N.R. Sandell Jr., and AS. Whilsky. The stochastic control of the f-8c aircraft using a multiple model adaptive control (mmac) method-part i: Equilibrium flight. IEEE Transactions on Automatic Control, AC-22(5):768-780, October 1977.
2. B. Barshan and H. F. Durrant-Whyte. Inertial navigation systems for mobile robots. IEEE Transactions on Robotrcs and Automation, 11(3):328-342, June 1995.
3. C.M. Bishop. Neural Networks f o r Pattern Recognintion. Oxford University Press, 1995.
4. R.K. Douglas, D.P. Malladi, R.H. Chen, D.L. Mingori, and J.L. Speyer. Fault detection and identification for advanced vehicle control systems. In Proceedings of the 13th World Congress, International Federation of Automatic Control, volume Q, pages 201-206,1997
5. A. Duyar and W. Merrill. Fault diagnosis for the space shuttle main engine. Journal of Guidance, Control and Dynamics. 15:384-389, March-April 1992.
6. Puneet Goel, S.I. Roumeliotis, and G.S. Sukhatme. Robust localization using relative and absolute position estimates. In Proceedings of the 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems, October 1999.
7. R.E. Kalman. A new approach to linear filtering and prediction problems. ASME Journal of Basic Engineering, 86:35-45, 1960.
8. D.T. Magill. Optimal adaptive estimation of sampled stochastic processes. IEEE Transactions on Automatic Control, AC-10(4) :434-439, 1985.
9. P.S. Maybeck and P.D. Hanlon. Performance enhancement of a multiple model adaptive estimator. IEEE Transactions on Aerospace and Electronic Systems, 31(4):1240-1253, October 1995.
10. P.S. Maybeck and D.L. Pagoda. Multiple model adaptive controller for the stol f-15 with sensor/actuator failures. In Proceedings of the 20th Conference on Decision and Control, pages 1566-1572, December 1989.
11. T.R. Menke and P.S. Maybeck. Sensor/actuator failure detection in the vista f-16 by mutiple model adaptive estimation. IEEE Transactions on Aerospace and Electronic Systems., 31(4):1218-1229, October 1995.
12. S.I. Roumeliotis, G.S. Sukhatme, and G.A. Bekey. Fault detection and identification in a mobile robot using multiple-model estimation. In Proceedings of the 1998 IEEE International Conference in Robotics and Automation, May 1998.
13. S.I. Roumeliotis, G.S. Sukhatme, and G.A. Bekey. Sensor fault detection and identification in a mobile robot. In Proceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems, 1998.
14. S.I. Roumeliotis, G.S. Sukhatme, and G.A. Bekey. Smoother based 3d attitude estimation for mobile robot localization. Technical report, University of Southern California, August 1998.