TY - GEN
T1 - Run-time detection of faults in autonomous mobile robots based on the comparison of simulated and real robot behaviour
AU - Millard, Alan G.
AU - Timmis, Jon
AU - Winfield, Alan F.T.
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/10/31
Y1 - 2014/10/31
N2 - This paper presents a novel approach to the run-time detection of faults in autonomous mobile robots, based on simulated predictions of real robot behaviour. We show that although simulation can be used to predict real robot behaviour, drift between simulation and reality occurs over time due to the reality gap. This necessitates periodic reinitialisation of the simulation to reduce false positives. Using a simple obstacle avoidance controller afflicted with partial motor failure, we show that selecting the length of this reinitialisation time period is non-trivial, and that there exists a trade-off between minimising drift and the ability to detect the presence of faults.
AB - This paper presents a novel approach to the run-time detection of faults in autonomous mobile robots, based on simulated predictions of real robot behaviour. We show that although simulation can be used to predict real robot behaviour, drift between simulation and reality occurs over time due to the reality gap. This necessitates periodic reinitialisation of the simulation to reduce false positives. Using a simple obstacle avoidance controller afflicted with partial motor failure, we show that selecting the length of this reinitialisation time period is non-trivial, and that there exists a trade-off between minimising drift and the ability to detect the presence of faults.
UR - https://www.scopus.com/pages/publications/84911489266
U2 - 10.1109/IROS.2014.6943084
DO - 10.1109/IROS.2014.6943084
M3 - Conference Proceeding (ISBN)
AN - SCOPUS:84911489266
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 3720
EP - 3725
BT - IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems
PB - Institute of Electrical and Electronics Engineers
T2 - 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014
Y2 - 14 September 2014 through 18 September 2014
ER -