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Model-Free Execution Monitoring in Behavior-Based Mobile Robotics

O. Pettersson, L. Karlsson and A. Saffiotti

Abstract
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.
Citation
O. Pettersson, L. Karlsson and A. Saffiotti. Model-Free Execution Monitoring in Behavior-Based Mobile Robotics. Proc. of the 11th Int. Conf. on Advanced Robotics (ICAR). Coimbra, PT, 2003.
BibTeX entry
Contact
Email Ola Pettersson
Email Lars Karlsson
Email Alessandro Saffiotti
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