TY  - BOOK
AB  - We present a novel fault detection method for application in component-based robotic systems. In contrast to existing work, our method specifically addresses faults in the software system of the robot using a data-driven methodology which exploits the inter-process communication of the system. This enables an application of the approach without expert knowledge or availability of complex software models. We specifically focus on performance bugs, which slowly degrade the performance of the system and are thereby harder to detect but also most valuable for automatic recovery. Using a data set recorded on a RoboCup@Home platform we demonstrate the performance and applicability of our method and analyze the types of faults that can be detected by the method.
DA  - 2016
DO  - 10.1109/IROS.2016.7759507
KW  - fault detection
KW  - FDI
KW  - robotics
KW  - RoboCup
LA  - eng
PY  - 2016
TI  - Autonomous Fault Detection for Performance Bugs in Component-Based Robotic Systems
UR  - https://nbn-resolving.org/urn:nbn:de:0070-pub-29046004
Y2  - 2024-11-22T04:41:47
ER  -