Robust execution monitoring for navigation plans
نویسندگان
چکیده
This paper presents a general approach to robust execution monitoring. The goal is to provide coverage for many types of unexpected and unanticipated situations, while at the same time enabling the robot to quickly detect , and react to, speciic contingencies. The approach uses a hierarchy of monitors, structured in layers of increasing speciicity. We present the general approach, and show its application in the domain of indoor mobile robot navigation.
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تاریخ انتشار 1998