Model-free execution monitoring in behavior-based mobile robotics

• In this paper we present a model-free execution monitor for behavior-based mobile robots. By model-free we mean that the monitoring is based only on the actual execution, without involving any predictive models of the controlled system. Model-free monitors are especially suitable for systems where it is hard to obtain adequate models. In our approach we analyze the activation levels of the different behaviors using a pattern recognition technique. Our model-free execution monitor, which is realized by radial basis function networks, is shown to give a high performance in several realistic simulations.

Ämnesord

NATURVETENSKAP  -- Data- och informationsvetenskap -- Datavetenskap (hsv//swe)

NATURAL SCIENCES  -- Computer and Information Sciences -- Computer Sciences (hsv//eng)

Nyckelord

Datalogi

Computer and Systems Science

Publikations- och innehållstyp

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