Modeling cross-sensory and sensorimotor correlations to detect and localize faults in mobile robots

IEEE International Conference on Intelligent Robots and Systems

Volumn , Issue , 2007, Pages 1520-1526

  Kira, Zsolt ^a  

^a Georgia Institute of Technology   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

COMPUTER NETWORKS; CONFORMAL MAPPING; CORRELATION METHODS; FAULT DETECTION; INTELLIGENT ROBOTS; INTELLIGENT SYSTEMS; LEARNING ALGORITHMS; LEARNING SYSTEMS; MOBILE ROBOTS; SELF ORGANIZING MAPS;

A-PRIORI; INTERNATIONAL CONFERENCES;

ROBOTS;

EID: 51349166303     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2007.4398978     Document Type: Conference Paper

References (21)

1. L.H. Chiang, E.L. Russell, and R.D. Braatz, Fault Detection and Diagnosis in Industrial Systems.", Heidelberg:Springer, 2001.
2. E. Chow and A. Willsky, "Analytical redundancy and the design of robust failure detection systems," IEEE Transactions on Automatic Control, 29, 603-614, 1984.
3. P.M. Frank, "Fault Diagnosis in Dynamic Systems Using Analytical and Knowledge-based Redundancy-A Survey and Some New Results," Automatica, Vol. 26, No. 3, pp. 459-474, 1990.
4. Frank, P. and X. Ding, "Survey of robust residual generation and evaluation methods in observer-based fault detection systems", Journal of Process Control, 7, 403-424, 1997.
5. A. Willsky, "A survey of design methods for failure detection in dynamic systems" Automatica, no. 12, pp. 601-611, 1976.
6. Gertler, J. Fault detection and diagnosis in engineering systems. New York: Marcel Dekker, 1998.
7. M. Mufti, V. Ramani, George J. Vachtsevanos: ""Fuzzy Wavelets for Feature Extraction and Failure Classification,"" in Fuzzy Hardware, Architectures, and Applications, edited by A. Kandel and G. Langholz, Kluwer Academic Publishers, pp. 311-344, 1998.
8. Fault diagnosis and fault tolerance for mechatronic systems : recent advances / Fabrizio Caccavale, Luigi Villani, (eds.), 2003.
9. M. Visinsky, Fault Detection and Fault Tolerance Methods for Robotics, Masters Thesis, (December 1991).
10. D. Zhuo-hua, C. Zi-xing, and Y. Jin-xia, "Fault Diagnosis and Fault Tolerant Control for Wheeled Mobile Robots under Unknown Environments: A Survey", Proceedings of the IEEE International Conference on Robotics and Automation, April 2005.
11. C. Ferrell. Failure recognition and fault tolerance of an autonomous robot. Adaptive Behavior , 2(4):375-398, 1994.
12. S. I. Roumeliotis, G. S. Sukhatme, and G. A. Bekey. "Fault detection and identification in a mobile robot using multiple-model estimation", In Proc. 1998 IEEE International Conference on Robotics and Automation, pages 2223-2228, May 1998.
13. Vandi Verma, Geoff Gordon, Reid Simmons, and Sebastian Thrun, "Particle Filters for Rover Fault Diagnosis", IEEE Robotics & Automation Magazine special issue on Human Centered Robotics and Dependability, June 2004.
14. P. Sundvall and P. Jensfelt, "Fault detection for mobile robots using redundant positioning systems", Proceedings of the IEEE International Conference on Robotics and Automation, April 2005.
15. Dixon, W.E.; Walker, I.D.; Dawson, D.M.; "Fault detection for wheeled mobile robots with parametric uncertainty," in Proc. IEEE/ASME Int'l Conf. Advanced Intelligent Mechatronics, 2001, pp. 1245-1250.
16. V. Verma, J. Langford, and R. Simmons, "Non-Parametric Fault Identification for Space Rovers," International Symposium on Artificial Intelligence and Robotics in Space (iSAIRAS), 2001.
17. R. R. Murphy, and D. Hershberger, "Handling sensing failures in autonomous mobile robots," International Journal of Robotics Research, vol. 18, no. 4, pp. 382-400, 1999.
18. R.C. Arkin, Behavior-Based Robotics. MIT Press, 1998.
19. D. Mumford, Pattern Theory: The Mathematics of Perception, in Proceedings of ICM 2002, Beijing, vol. 1, 2002.
20. Kohonen, T. 1990. "The self-organizing map", Proceedings of IEEE, 78:1464-1480.
21. nd International Workshop on Epigenetic Robotics, pp. 181-184, 2002.